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/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/* Device includes. */
#include <arm_cmse.h>
#include "NuMicro.h"
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Demo includes. */
#include "mpu_demo.h"
#include "reg_tests.h"
/* Externs needed by the MPU setup code. These are defined in Scatter-Loading
* description file (FreeRTOSDemo.sct). */
extern uint32_t Image$$ER_IROM_PRIVILEGED$$Base;
extern uint32_t Image$$ER_IROM_PRIVILEGED_ALIGN$$Limit;
extern uint32_t Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Base;
extern uint32_t Image$$ER_IROM_FREERTOS_SYSTEM_CALLS_ALIGN$$Limit;
extern uint32_t Image$$ER_IROM_UNPRIVILEGED$$Base;
extern uint32_t Image$$ER_IROM_UNPRIVILEGED_ALIGN$$Limit;
extern uint32_t Image$$ER_IRAM_PRIVILEGED$$Base;
extern uint32_t Image$$ER_IRAM_PRIVILEGED_ALIGN$$Limit;
extern uint32_t Image$$ER_IRAM_UNPRIVILEGED$$Base;
extern uint32_t Image$$ER_IRAM_UNPRIVILEGED_ALIGN$$Limit;
/* Privileged flash. */
const uint32_t * __privileged_functions_start__ = ( uint32_t * ) &( Image$$ER_IROM_PRIVILEGED$$Base );
const uint32_t * __privileged_functions_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_PRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in privileged Flash region. */
/* Flash containing system calls. */
const uint32_t * __syscalls_flash_start__ = ( uint32_t * ) &( Image$$ER_IROM_FREERTOS_SYSTEM_CALLS$$Base );
const uint32_t * __syscalls_flash_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_FREERTOS_SYSTEM_CALLS_ALIGN$$Limit ) - 0x1 ); /* Last address in Flash region containing system calls. */
/* Unprivileged flash. Note that the section containing system calls is
* unprivileged so that unprivileged tasks can make system calls. */
const uint32_t * __unprivileged_flash_start__ = ( uint32_t * ) &( Image$$ER_IROM_UNPRIVILEGED$$Base );
const uint32_t * __unprivileged_flash_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IROM_UNPRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in un-privileged Flash region. */
/* RAM with priviledged access only. This contains kernel data. */
const uint32_t * __privileged_sram_start__ = ( uint32_t * ) &( Image$$ER_IRAM_PRIVILEGED$$Base );
const uint32_t * __privileged_sram_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IRAM_PRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in privileged RAM. */
/* Unprivileged RAM. */
const uint32_t * __unprivileged_sram_start__ = ( uint32_t * ) &( Image$$ER_IRAM_UNPRIVILEGED$$Base );
const uint32_t * __unprivileged_sram_end__ = ( uint32_t * ) ( ( uint32_t ) &( Image$$ER_IRAM_UNPRIVILEGED_ALIGN$$Limit ) - 0x1 ); /* Last address in un-privileged RAM. */
/*-----------------------------------------------------------*/
/**
* @brief Sets up the hardware - clocks and UARTs.
*/
static void prvSetupHardware( void );
/**
* @brief Create all demo tasks.
*/
static void prvCreateTasks( void );
/**
* @brief The hard fault handler.
*
* It calls a function called vHandleMemoryFault.
*/
void HardFault_Handler( void ) __attribute__ ( ( naked ) );
/*-----------------------------------------------------------*/
int main( void )
{
/* Initialize the hardware. */
prvSetupHardware();
/* Print banner. */
printf( "\r\n" );
printf( "+---------------------------------------------+\r\n" );
printf( "| Application is running ... |\r\n" );
printf( "+---------------------------------------------+\r\n" );
/* Create tasks. */
prvCreateTasks();
/* Start scheduler. */
vTaskStartScheduler();
/* Will not get here if the scheduler starts successfully. If you do end up
here then there wasn't enough heap memory available to start either the idle
task or the timer/daemon task. https://www.freertos.org/a00111.html */
for( ; ; )
{
}
}
/*-----------------------------------------------------------*/
static void prvSetupHardware( void )
{
/* Unlock protected registers. */
SYS_UnlockReg();
/* Init System Clock. */
/* Enable PLL */
CLK->PLLCTL = CLK_PLLCTL_64MHz_HIRC;
/* Wait for PLL to be stable. */
while( ( CLK->STATUS & CLK_STATUS_PLLSTB_Msk ) == 0 );
/* Set HCLK divider to 1. */
CLK->CLKDIV0 = ( CLK->CLKDIV0 & ( ~CLK_CLKDIV0_HCLKDIV_Msk ) );
/* Switch HCLK clock source to PLL. */
CLK->CLKSEL0 = ( CLK->CLKSEL0 & ( ~CLK_CLKSEL0_HCLKSEL_Msk ) ) | CLK_CLKSEL0_HCLKSEL_PLL;
/* Initialize UART0 - It is used for debug output from the non-secure side. */
/* Enable UART0 clock. */
CLK->APBCLK0 |= CLK_APBCLK0_UART0CKEN_Msk;
/* Select UART0 clock source. */
CLK->CLKSEL1 = ( CLK->CLKSEL1 & ( ~CLK_CLKSEL1_UART0SEL_Msk ) ) | CLK_CLKSEL1_UART0SEL_HIRC;
/* Set multi-function pins for UART0 RXD and TXD. */
SYS->GPB_MFPH = ( SYS->GPB_MFPH & ( ~UART0_RXD_PB12_Msk ) ) | UART0_RXD_PB12;
SYS->GPB_MFPH = ( SYS->GPB_MFPH & ( ~UART0_TXD_PB13_Msk ) ) | UART0_TXD_PB13;
/* Initialize UART1 - It is used for debug output from the secure side. */
/* Enable UART1 clock. */
CLK->APBCLK0 |= CLK_APBCLK0_UART1CKEN_Msk;
/* Select UART1 clock source. */
CLK->CLKSEL1 = ( CLK->CLKSEL1 & ( ~CLK_CLKSEL1_UART1SEL_Msk ) ) | CLK_CLKSEL1_UART1SEL_HIRC;
/* Set multi-function pins for UART1 RXD and TXD. */
SYS->GPA_MFPL = ( SYS->GPA_MFPL & ( ~UART1_RXD_PA2_Msk ) ) | UART1_RXD_PA2;
SYS->GPA_MFPL = ( SYS->GPA_MFPL & ( ~UART1_TXD_PA3_Msk ) ) | UART1_TXD_PA3;
/* Update System Core Clock. */
PllClock = 64000000; /* PLL. */
SystemCoreClock = 64000000 / 1; /* HCLK. */
CyclesPerUs = 64000000 / 1000000; /* For SYS_SysTickDelay(). */
/* Initialize the debug port. */
DEBUG_PORT->BAUD = UART_BAUD_MODE2 | UART_BAUD_MODE2_DIVIDER(__HIRC, 115200);
DEBUG_PORT->LINE = UART_WORD_LEN_8 | UART_PARITY_NONE | UART_STOP_BIT_1;
/* Lock protected registers. */
SYS_LockReg();
}
/*-----------------------------------------------------------*/
static void prvCreateTasks( void )
{
/* Create tasks for the MPU Demo. */
vStartMPUDemo();
/* Create tasks for register tests. */
vStartRegTests();
}
/*-----------------------------------------------------------*/
/* Stack overflow hook. */
void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName )
{
/* Force an assert. */
configASSERT( pcTaskName == 0 );
}
/*-----------------------------------------------------------*/
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
* implementation of vApplicationGetIdleTaskMemory() to provide the memory that
* is used by the Idle task. */
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
StackType_t ** ppxIdleTaskStackBuffer,
uint32_t * pulIdleTaskStackSize )
{
/* If the buffers to be provided to the Idle task are declared inside this
* function then they must be declared static - otherwise they will be
* allocated on the stack and so not exists after this function exits. */
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ] __attribute__( ( aligned( 32 ) ) );
/* Pass out a pointer to the StaticTask_t structure in which the Idle
* task's state will be stored. */
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
/* Pass out the array that will be used as the Idle task's stack. */
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
* Note that, as the array is necessarily of type StackType_t,
* configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/
/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
* application must provide an implementation of vApplicationGetTimerTaskMemory()
* to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
StackType_t ** ppxTimerTaskStackBuffer,
uint32_t * pulTimerTaskStackSize )
{
/* If the buffers to be provided to the Timer task are declared inside this
* function then they must be declared static - otherwise they will be
* allocated on the stack and so not exists after this function exits. */
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ] __attribute__( ( aligned( 32 ) ) );
/* Pass out a pointer to the StaticTask_t structure in which the Timer
* task's state will be stored. */
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
/* Pass out the array that will be used as the Timer task's stack. */
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
* Note that, as the array is necessarily of type StackType_t,
* configTIMER_TASK_STACK_DEPTH is specified in words, not bytes. */
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
/*-----------------------------------------------------------*/
void HardFault_Handler( void )
{
__asm volatile
(
" movs r0, #4 \n"
" mov r1, lr \n"
" tst r0, r1 \n"
" beq msp_used_for_stacking \n"
" mrs r0, psp \n"
" ldr r2, handler_address_const \n"
" bx r2 \n"
"msp_used_for_stacking: \n"
" mrs r0, msp \n"
" ldr r2, handler_address_const \n"
" bx r2 \n"
" \n"
" .align 4 \n"
" handler_address_const: .word vHandleMemoryFault \n"
);
}
/*-----------------------------------------------------------*/
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