path: root/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM7_MPU/r0p1/port.c

/*
 * FreeRTOS Kernel V10.2.1
 * Copyright (C) 2019 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.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM CM4F port.
 *----------------------------------------------------------*/

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
all the API functions to use the MPU wrappers.  That should only be done when
task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

#ifndef __TARGET_FPU_VFP
	#error This port can only be used when the project options are configured to enable hardware floating point support.
#endif

#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/* Constants required to access and manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL_REG				( * ( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG				( * ( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG	    ( * ( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_SYSPRI2_REG					( *	( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSPRI1_REG					( * ( ( volatile uint32_t * ) 0xe000ed1c ) )
#define portNVIC_SYS_CTRL_STATE_REG				( * ( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portNVIC_MEM_FAULT_ENABLE				( 1UL << 16UL )
#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )

#ifndef configSYSTICK_CLOCK_HZ
	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
	/* Ensure the SysTick is clocked at the same frequency as the core. */
	#define portNVIC_SYSTICK_CLK_BIT	( 1UL << 2UL )
#else
	/* The way the SysTick is clocked is not modified in case it is not the same
	as the core. */
	#define portNVIC_SYSTICK_CLK_BIT	( 0 )
#endif

#define portMAX_24_BIT_NUMBER       ( 0xffffffUL )
#define portMISSED_COUNTS_FACTOR    ( 45UL )

/* Constants required to access and manipulate the MPU. */
#define portMPU_TYPE_REG						( * ( ( volatile uint32_t * ) 0xe000ed90 ) )
#define portMPU_REGION_BASE_ADDRESS_REG			( * ( ( volatile uint32_t * ) 0xe000ed9C ) )
#define portMPU_REGION_ATTRIBUTE_REG			( * ( ( volatile uint32_t * ) 0xe000edA0 ) )
#define portMPU_CTRL_REG						( * ( ( volatile uint32_t * ) 0xe000ed94 ) )
#define portEXPECTED_MPU_TYPE_VALUE				( 8UL << 8UL ) /* 8 regions, unified. */
#define portMPU_ENABLE							( 0x01UL )
#define portMPU_BACKGROUND_ENABLE				( 1UL << 2UL )
#define portPRIVILEGED_EXECUTION_START_ADDRESS	( 0UL )
#define portMPU_REGION_VALID					( 0x10UL )
#define portMPU_REGION_ENABLE					( 0x01UL )
#define portPERIPHERALS_START_ADDRESS			0x40000000UL
#define portPERIPHERALS_END_ADDRESS				0x5FFFFFFFUL

/* Constants required to access and manipulate the SysTick. */
#define portNVIC_SYSTICK_CLK					( 0x00000004UL )
#define portNVIC_SYSTICK_INT					( 0x00000002UL )
#define portNVIC_SYSTICK_ENABLE					( 0x00000001UL )
#define portNVIC_PENDSV_PRI						( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
#define portNVIC_SYSTICK_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
#define portNVIC_SVC_PRI						( ( ( uint32_t ) configMAX_SYSCALL_INTERRUPT_PRIORITY - 1UL ) << 24UL )

/* Constants required to manipulate the VFP. */
#define portFPCCR								( ( volatile uint32_t * ) 0xe000ef34UL ) /* Floating point context control register. */
#define portASPEN_AND_LSPEN_BITS				( 0x3UL << 30UL )

/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR						( 0x01000000UL )
#define portINITIAL_EXC_RETURN					( 0xfffffffdUL )
#define portINITIAL_CONTROL_IF_UNPRIVILEGED		( 0x03 )
#define portINITIAL_CONTROL_IF_PRIVILEGED		( 0x02 )

/* Constants required to check the validity of an interrupt priority. */
#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
#define portPRIGROUP_SHIFT					( 8UL )

/* Offsets in the stack to the parameters when inside the SVC handler. */
#define portOFFSET_TO_PC						( 6 )

/* For strict compliance with the Cortex-M spec the task start address should
have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
#define portSTART_ADDRESS_MASK				( ( StackType_t ) 0xfffffffeUL )

/* Each task maintains its own interrupt status in the critical nesting
variable.  Note this is not saved as part of the task context as context
switches can only occur when uxCriticalNesting is zero. */
static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;

#if( configUSE_TICKLESS_IDLE == 1 )
/*
 * The number of SysTick increments that make up one tick period.
 */
	static uint32_t ulTimerCountsForOneTick = 0;

/*
 * The maximum number of tick periods that can be suppressed is limited by the
 * 24 bit resolution of the SysTick timer.
 */
	static uint32_t xMaximumPossibleSuppressedTicks = 0;

/*
 * Compensate for the CPU cycles that pass while the SysTick is stopped (low
 * power functionality only.
 */
	static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */


/*
 * Setup the timer to generate the tick interrupts.
 */
static void prvSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;

/*
 * Configure a number of standard MPU regions that are used by all tasks.
 */
static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;

/*
 * Start first task is a separate function so it can be tested in isolation.
 */
static void prvStartFirstTask( void ) PRIVILEGED_FUNCTION;

/*
 * Return the smallest MPU region size that a given number of bytes will fit
 * into.  The region size is returned as the value that should be programmed
 * into the region attribute register for that region.
 */
static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes ) PRIVILEGED_FUNCTION;

/*
 * Standard FreeRTOS exception handlers.
 */
void xPortPendSVHandler( void ) PRIVILEGED_FUNCTION;
void xPortSysTickHandler( void ) PRIVILEGED_FUNCTION;
void vPortSVCHandler( void ) PRIVILEGED_FUNCTION;

/*
 * Starts the scheduler by restoring the context of the first task to run.
 */
static void prvRestoreContextOfFirstTask( void ) PRIVILEGED_FUNCTION;

/*
 * C portion of the SVC handler.  The SVC handler is split between an asm entry
 * and a C wrapper for simplicity of coding and maintenance.
 */
void prvSVCHandler( uint32_t *pulRegisters ) __attribute__((used)) PRIVILEGED_FUNCTION;

/*
 * Function to enable the VFP.
 */
static void vPortEnableVFP( void );

/*
 * Utility function.
 */
static uint32_t prvPortGetIPSR( void );

/*
 * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
 * FreeRTOS API functions are not called from interrupts that have been assigned
 * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
 */
#if ( configASSERT_DEFINED == 1 )
	 static uint8_t ucMaxSysCallPriority = 0;
	 static uint32_t ulMaxPRIGROUPValue = 0;
	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;
#endif /* configASSERT_DEFINED */

/**
 * @brief Checks whether or not the processor is privileged.
 *
 * @return 1 if the processor is already privileged, 0 otherwise.
 */
BaseType_t xIsPrivileged( void );

/**
 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
 * register.
 *
 * Bit 0 of the CONTROL register defines the privilege level of Thread Mode.
 *  Bit[0] = 0 --> The processor is running privileged
 *  Bit[0] = 1 --> The processor is running unprivileged.
 */
void vResetPrivilege( void );

/**
 * @brief Calls the port specific code to raise the privilege.
 *
 * @return pdFALSE if privilege was raised, pdTRUE otherwise.
 */
extern BaseType_t xPortRaisePrivilege( void );

/**
 * @brief If xRunningPrivileged is not pdTRUE, calls the port specific
 * code to reset the privilege, otherwise does nothing.
 */
extern void vPortResetPrivilege( BaseType_t xRunningPrivileged );
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged )
{
	/* Simulate the stack frame as it would be created by a context switch
	interrupt. */
	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
	pxTopOfStack--;
	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
	pxTopOfStack--;
	*pxTopOfStack = 0;	/* LR */
	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */

	/* A save method is being used that requires each task to maintain its
	own exec return value. */
	pxTopOfStack--;
	*pxTopOfStack = portINITIAL_EXC_RETURN;

	pxTopOfStack -= 9;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */

	if( xRunPrivileged == pdTRUE )
	{
		*pxTopOfStack = portINITIAL_CONTROL_IF_PRIVILEGED;
	}
	else
	{
		*pxTopOfStack = portINITIAL_CONTROL_IF_UNPRIVILEGED;
	}

	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

void prvSVCHandler( uint32_t *pulParam )
{
uint8_t ucSVCNumber;
uint32_t ulReg;

	/* The stack contains: r0, r1, r2, r3, r12, r14, the return address and
	xPSR.  The first argument (r0) is pulParam[ 0 ]. */
	ucSVCNumber = ( ( uint8_t * ) pulParam[ portOFFSET_TO_PC ] )[ -2 ];
	switch( ucSVCNumber )
	{
		case portSVC_START_SCHEDULER	:	portNVIC_SYSPRI1_REG |= portNVIC_SVC_PRI;
											prvRestoreContextOfFirstTask();
											break;

		case portSVC_YIELD				:	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
											/* Barriers are normally not required
											but do ensure the code is completely
											within the specified behaviour for the
											architecture. */
											__asm volatile( "dsb" );
											__asm volatile( "isb" );

											break;

		case portSVC_RAISE_PRIVILEGE	:	__asm
											{
												mrs ulReg, control	/* Obtain current control value. */
												bic ulReg, #1		/* Set privilege bit. */
												msr control, ulReg	/* Write back new control value. */
											}
											break;

		default							:	/* Unknown SVC call. */
											break;
	}
}
/*-----------------------------------------------------------*/

__asm void vPortSVCHandler( void )
{
	extern prvSVCHandler
		
	PRESERVE8

	/* Assumes psp was in use. */
	#ifndef USE_PROCESS_STACK	/* Code should not be required if a main() is using the process stack. */
		tst lr, #4
		ite eq
		mrseq r0, msp
		mrsne r0, psp
	#else
		mrs r0, psp
	#endif
		b prvSVCHandler
}
/*-----------------------------------------------------------*/

__asm void prvRestoreContextOfFirstTask( void )
{
	PRESERVE8

	ldr r0, =0xE000ED08				/* Use the NVIC offset register to locate the stack. */
	ldr r0, [r0]
	ldr r0, [r0]
	msr msp, r0						/* Set the msp back to the start of the stack. */
	ldr	r3, =pxCurrentTCB			/* Restore the context. */
	ldr r1, [r3]
	ldr r0, [r1]					/* The first item in the TCB is the task top of stack. */
	add r1, r1, #4					/* Move onto the second item in the TCB... */
	ldr r2, =0xe000ed9c				/* Region Base Address register. */
	ldmia r1!, {r4-r11}				/* Read 4 sets of MPU registers. */
	stmia r2!, {r4-r11}				/* Write 4 sets of MPU registers. */
	ldmia r0!, {r3-r11, r14}	/* Pop the registers that are not automatically saved on exception entry. */
	msr control, r3
	msr psp, r0						/* Restore the task stack pointer. */
	mov r0, #0
	msr	basepri, r0
	bx r14
	nop
}
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
BaseType_t xPortStartScheduler( void )
{
	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.  See
	http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
	configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );

	#if( configASSERT_DEFINED == 1 )
	{
		volatile uint32_t ulOriginalPriority;
		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
		volatile uint8_t ucMaxPriorityValue;

		/* Determine the maximum priority from which ISR safe FreeRTOS API
		functions can be called.  ISR safe functions are those that end in
		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
		ensure interrupt entry is as fast and simple as possible.

		Save the interrupt priority value that is about to be clobbered. */
		ulOriginalPriority = *pucFirstUserPriorityRegister;

		/* Determine the number of priority bits available.  First write to all
		possible bits. */
		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

		/* Read the value back to see how many bits stuck. */
		ucMaxPriorityValue = *pucFirstUserPriorityRegister;

		/* Use the same mask on the maximum system call priority. */
		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

		/* Calculate the maximum acceptable priority group value for the number
		of bits read back. */
		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
		{
			ulMaxPRIGROUPValue--;
			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
		}

		#ifdef __NVIC_PRIO_BITS
		{
			/* Check the CMSIS configuration that defines the number of
			priority bits matches the number of priority bits actually queried
			from the hardware. */
			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
		}
		#endif

		#ifdef configPRIO_BITS
		{
			/* Check the FreeRTOS configuration that defines the number of
			priority bits matches the number of priority bits actually queried
			from the hardware. */
			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
		}
		#endif

		/* Shift the priority group value back to its position within the AIRCR
		register. */
		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;

		/* Restore the clobbered interrupt priority register to its original
		value. */
		*pucFirstUserPriorityRegister = ulOriginalPriority;
	}
	#endif /* conifgASSERT_DEFINED */

	/* Make PendSV and SysTick the same priority as the kernel, and the SVC
	handler higher priority so it can be used to exit a critical section (where
	lower priorities are masked). */
	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

	/* Configure the regions in the MPU that are common to all tasks. */
	prvSetupMPU();

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Initialise the critical nesting count ready for the first task. */
	uxCriticalNesting = 0;

	/* Ensure the VFP is enabled - it should be anyway. */
	vPortEnableVFP();

	/* Lazy save always. */
	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;

	/* Start the first task. */
	prvStartFirstTask();

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

__asm void prvStartFirstTask( void )
{
	PRESERVE8

	/* Use the NVIC offset register to locate the stack. */
	ldr r0, =0xE000ED08
	ldr r0, [r0]
	ldr r0, [r0]
	/* Set the msp back to the start of the stack. */
	msr msp, r0
	/* Clear the bit that indicates the FPU is in use in case the FPU was used
	before the scheduler was started - which would otherwise result in the
	unnecessary leaving of space in the SVC stack for lazy saving of FPU
	registers. */
	mov r0, #0
	msr control, r0
	/* Globally enable interrupts. */
	cpsie i
	cpsie f
	dsb
	isb
	svc portSVC_START_SCHEDULER	/* System call to start first task. */
	nop
	nop
}

void vPortEndScheduler( void )
{
	/* Not implemented in ports where there is nothing to return to.
	Artificially force an assert. */
	configASSERT( uxCriticalNesting == 1000UL );
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();

	portDISABLE_INTERRUPTS();
	uxCriticalNesting++;

	vPortResetPrivilege( xRunningPrivileged );
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
BaseType_t xRunningPrivileged = xPortRaisePrivilege();

	configASSERT( uxCriticalNesting );
	uxCriticalNesting--;
	if( uxCriticalNesting == 0 )
	{
		portENABLE_INTERRUPTS();
	}
	vPortResetPrivilege( xRunningPrivileged );
}
/*-----------------------------------------------------------*/

__asm void xPortPendSVHandler( void )
{
	extern uxCriticalNesting;
	extern pxCurrentTCB;
	extern vTaskSwitchContext;

	PRESERVE8

	mrs r0, psp

	ldr r3, =pxCurrentTCB			/* Get the location of the current TCB. */
	ldr r2, [r3]

	tst r14, #0x10					/* Is the task using the FPU context?  If so, push high vfp registers. */
	it eq
	vstmdbeq r0!, {s16-s31}

	mrs r1, control
	stmdb r0!, {r1, r4-r11, r14}	/* Save the remaining registers. */
	str r0, [r2]					/* Save the new top of stack into the first member of the TCB. */

	stmdb sp!, {r0, r3}
	mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
	msr basepri, r0
	dsb
	isb
  cpsie i
	bl vTaskSwitchContext
	mov r0, #0
	msr basepri, r0
	ldmia sp!, {r0, r3}
									/* Restore the context. */
	ldr r1, [r3]
	ldr r0, [r1]					/* The first item in the TCB is the task top of stack. */
	add r1, r1, #4					/* Move onto the second item in the TCB... */
	ldr r2, =0xe000ed9c				/* Region Base Address register. */
	ldmia r1!, {r4-r11}				/* Read 4 sets of MPU registers. */
	stmia r2!, {r4-r11}				/* Write 4 sets of MPU registers. */
	ldmia r0!, {r3-r11, r14}		/* Pop the registers that are not automatically saved on exception entry. */
	msr control, r3

	tst r14, #0x10					/* Is the task using the FPU context?  If so, pop the high vfp registers too. */
	it eq
	vldmiaeq r0!, {s16-s31}

	msr psp, r0
	bx r14
	nop
	nop
}

/*-----------------------------------------------------------*/

#if( configUSE_TICKLESS_IDLE == 1 )

	__weak void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
	{
	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
	TickType_t xModifiableIdleTime;

		/* Make sure the SysTick reload value does not overflow the counter. */
		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
		{
			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
		}

		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
		is accounted for as best it can be, but using the tickless mode will
		inevitably result in some tiny drift of the time maintained by the
		kernel with respect to calendar time. */
		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;

		/* Calculate the reload value required to wait xExpectedIdleTime
		tick periods.  -1 is used because this code will execute part way
		through one of the tick periods. */
		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
		if( ulReloadValue > ulStoppedTimerCompensation )
		{
			ulReloadValue -= ulStoppedTimerCompensation;
		}

		/* Enter a critical section but don't use the taskENTER_CRITICAL()
		method as that will mask interrupts that should exit sleep mode. */
		__disable_irq();
		__dsb( portSY_FULL_READ_WRITE );
		__isb( portSY_FULL_READ_WRITE );

		/* If a context switch is pending or a task is waiting for the scheduler
		to be unsuspended then abandon the low power entry. */
		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
		{
			/* Restart from whatever is left in the count register to complete
			this tick period. */
			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;

			/* Restart SysTick. */
			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;

			/* Reset the reload register to the value required for normal tick
			periods. */
			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;

			/* Re-enable interrupts - see comments above __disable_irq() call
			above. */
			__enable_irq();
		}
		else
		{
			/* Set the new reload value. */
			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;

			/* Clear the SysTick count flag and set the count value back to
			zero. */
			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

			/* Restart SysTick. */
			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;

			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
			set its parameter to 0 to indicate that its implementation contains
			its own wait for interrupt or wait for event instruction, and so wfi
			should not be executed again.  However, the original expected idle
			time variable must remain unmodified, so a copy is taken. */
			xModifiableIdleTime = xExpectedIdleTime;
			configPRE_SLEEP_PROCESSING( &xModifiableIdleTime );
			if( xModifiableIdleTime > 0 )
			{
				__dsb( portSY_FULL_READ_WRITE );
				__wfi();
				__isb( portSY_FULL_READ_WRITE );
			}
			configPOST_SLEEP_PROCESSING( &xExpectedIdleTime );

			/* Re-enable interrupts to allow the interrupt that brought the MCU
			out of sleep mode to execute immediately.  see comments above
			__disable_interrupt() call above. */
			__enable_irq();
			__dsb( portSY_FULL_READ_WRITE );
			__isb( portSY_FULL_READ_WRITE );

			/* Disable interrupts again because the clock is about to be stopped
			and interrupts that execute while the clock is stopped will increase
			any slippage between the time maintained by the RTOS and calendar
			time. */
			__disable_irq();
			__dsb( portSY_FULL_READ_WRITE );
			__isb( portSY_FULL_READ_WRITE );

			/* Disable the SysTick clock without reading the
			portNVIC_SYSTICK_CTRL_REG register to ensure the
			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
			the time the SysTick is stopped for is accounted for as best it can
			be, but using the tickless mode will inevitably result in some tiny
			drift of the time maintained by the kernel with respect to calendar
			time*/
			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );

			/* Determine if the SysTick clock has already counted to zero and
			been set back to the current reload value (the reload back being
			correct for the entire expected idle time) or if the SysTick is yet
			to count to zero (in which case an interrupt other than the SysTick
			must have brought the system out of sleep mode). */
			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
			{
				uint32_t ulCalculatedLoadValue;

				/* The tick interrupt is already pending, and the SysTick count
				reloaded with ulReloadValue.  Reset the
				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
				period. */
				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );

				/* Don't allow a tiny value, or values that have somehow
				underflowed because the post sleep hook did something
				that took too long. */
				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
				{
					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
				}

				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;

				/* As the pending tick will be processed as soon as this
				function exits, the tick value maintained by the tick is stepped
				forward by one less than the time spent waiting. */
				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
			}
			else
			{
				/* Something other than the tick interrupt ended the sleep.
				Work out how long the sleep lasted rounded to complete tick
				periods (not the ulReload value which accounted for part
				ticks). */
				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;

				/* How many complete tick periods passed while the processor
				was waiting? */
				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;

				/* The reload value is set to whatever fraction of a single tick
				period remains. */
				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
			}

			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
			value. */
			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
			vTaskStepTick( ulCompleteTickPeriods );
			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;

			/* Exit with interrpts enabled. */
			__enable_irq();
		}
	}

#endif /* #if configUSE_TICKLESS_IDLE */

void xPortSysTickHandler( void )
{
uint32_t ulDummy;

	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
	{
		/* Increment the RTOS tick. */
		if( xTaskIncrementTick() != pdFALSE )
		{
			/* Pend a context switch. */
			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
		}
	}
	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
static void prvSetupTimerInterrupt( void )
{
    /* Calculate the constants required to configure the tick interrupt. */
#if( configUSE_TICKLESS_IDLE == 1 )
    ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
    xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
    ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
#endif /* configUSE_TICKLESS_IDLE */


	/* Reset the SysTick. */
	portNVIC_SYSTICK_CTRL_REG = 0UL;
	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

	/* Configure SysTick to interrupt at the requested rate. */
	portNVIC_SYSTICK_LOAD_REG = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/

__asm void vPortSwitchToUserMode( void )
{
	PRESERVE8

	mrs r0, control
	orr r0, #1
	msr control, r0
	bx r14
}
/*-----------------------------------------------------------*/

__asm void vPortEnableVFP( void )
{
	PRESERVE8

	ldr.w r0, =0xE000ED88		/* The FPU enable bits are in the CPACR. */
	ldr r1, [r0]

	orr r1, r1, #( 0xf << 20 )	/* Enable CP10 and CP11 coprocessors, then save back. */
	str r1, [r0]
	bx r14
	nop
	nop
}
/*-----------------------------------------------------------*/

static void prvSetupMPU( void )
{
extern uint32_t __privileged_functions_end__;
extern uint32_t __FLASH_segment_start__;
extern uint32_t __FLASH_segment_end__;
extern uint32_t __privileged_data_start__;
extern uint32_t __privileged_data_end__;

	/* Check the expected MPU is present. */
	if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
	{
		/* First setup the entire flash for unprivileged read only access. */
		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
											( portMPU_REGION_VALID ) |
											( portUNPRIVILEGED_FLASH_REGION );

		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_ONLY ) |
										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
										( prvGetMPURegionSizeSetting( ( uint32_t ) __FLASH_segment_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
										( portMPU_REGION_ENABLE );

		/* Setup the first 16K for privileged only access (even though less
		than 10K is actually being used).  This is where the kernel code is
		placed. */
		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __FLASH_segment_start__ ) | /* Base address. */
											( portMPU_REGION_VALID ) |
											( portPRIVILEGED_FLASH_REGION );

		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_ONLY ) |
										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
										( prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_functions_end__ - ( uint32_t ) __FLASH_segment_start__ ) ) |
										( portMPU_REGION_ENABLE );

		/* Setup the privileged data RAM region.  This is where the kernel data
		is placed. */
		portMPU_REGION_BASE_ADDRESS_REG =	( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
											( portMPU_REGION_VALID ) |
											( portPRIVILEGED_RAM_REGION );

		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
										( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
										prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
										( portMPU_REGION_ENABLE );

		/* By default allow everything to access the general peripherals.  The
		system peripherals and registers are protected. */
		portMPU_REGION_BASE_ADDRESS_REG =	( portPERIPHERALS_START_ADDRESS ) |
											( portMPU_REGION_VALID ) |
											( portGENERAL_PERIPHERALS_REGION );

		portMPU_REGION_ATTRIBUTE_REG =	( portMPU_REGION_READ_WRITE | portMPU_REGION_EXECUTE_NEVER ) |
										( prvGetMPURegionSizeSetting( portPERIPHERALS_END_ADDRESS - portPERIPHERALS_START_ADDRESS ) ) |
										( portMPU_REGION_ENABLE );

		/* Enable the memory fault exception. */
		portNVIC_SYS_CTRL_STATE_REG |= portNVIC_MEM_FAULT_ENABLE;

		/* Enable the MPU with the background region configured. */
		portMPU_CTRL_REG |= ( portMPU_ENABLE | portMPU_BACKGROUND_ENABLE );
	}
}
/*-----------------------------------------------------------*/

static uint32_t prvGetMPURegionSizeSetting( uint32_t ulActualSizeInBytes )
{
uint32_t ulRegionSize, ulReturnValue = 4;

	/* 32 is the smallest region size, 31 is the largest valid value for
	ulReturnValue. */
	for( ulRegionSize = 32UL; ulReturnValue < 31UL; ( ulRegionSize <<= 1UL ) )
	{
		if( ulActualSizeInBytes <= ulRegionSize )
		{
			break;
		}
		else
		{
			ulReturnValue++;
		}
	}

	/* Shift the code by one before returning so it can be written directly
	into the the correct bit position of the attribute register. */
	return ( ulReturnValue << 1UL );
}
/*-----------------------------------------------------------*/

__asm BaseType_t xIsPrivileged( void )
{
	PRESERVE8

	mrs r0, control		/* r0 = CONTROL. */
	tst r0, #1			/* Perform r0 & 1 (bitwise AND) and update the conditions flag. */
	ite ne
	movne r0, #0		/* CONTROL[0]!=0. Return false to indicate that the processor is not privileged. */
	moveq r0, #1		/* CONTROL[0]==0. Return true to indicate that the processor is privileged. */
	bx lr				/* Return. */
}
/*-----------------------------------------------------------*/

__asm void vResetPrivilege( void )
{
	PRESERVE8

	mrs r0, control		/* r0 = CONTROL. */
	orrs r0, #1			/* r0 = r0 | 1. */
	msr control, r0		/* CONTROL = r0. */
	bx lr				/* Return. */
}
/*-----------------------------------------------------------*/

void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth )
{
extern uint32_t __SRAM_segment_start__;
extern uint32_t __SRAM_segment_end__;
extern uint32_t __privileged_data_start__;
extern uint32_t __privileged_data_end__;

	
int32_t lIndex;
uint32_t ul;

	if( xRegions == NULL )
	{
		/* No MPU regions are specified so allow access to all RAM. */
		xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
				( ( uint32_t ) __SRAM_segment_start__ ) | /* Base address. */
				( portMPU_REGION_VALID ) |
				( portSTACK_REGION );

		xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
				( portMPU_REGION_READ_WRITE ) |
				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
				( prvGetMPURegionSizeSetting( ( uint32_t ) __SRAM_segment_end__ - ( uint32_t ) __SRAM_segment_start__ ) ) |
				( portMPU_REGION_ENABLE );

		/* Re-instate the privileged only RAM region as xRegion[ 0 ] will have
		just removed the privileged only parameters. */
		xMPUSettings->xRegion[ 1 ].ulRegionBaseAddress =
				( ( uint32_t ) __privileged_data_start__ ) | /* Base address. */
				( portMPU_REGION_VALID ) |
				( portSTACK_REGION + 1 );

		xMPUSettings->xRegion[ 1 ].ulRegionAttribute =
				( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
				( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
				prvGetMPURegionSizeSetting( ( uint32_t ) __privileged_data_end__ - ( uint32_t ) __privileged_data_start__ ) |
				( portMPU_REGION_ENABLE );

		/* Invalidate all other regions. */
		for( ul = 2; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
		{
			xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
			xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
		}
	}
	else
	{
		/* This function is called automatically when the task is created - in
		which case the stack region parameters will be valid.  At all other
		times the stack parameters will not be valid and it is assumed that the
		stack region has already been configured. */
		if( ulStackDepth > 0 )
		{
			/* Define the region that allows access to the stack. */
			xMPUSettings->xRegion[ 0 ].ulRegionBaseAddress =
					( ( uint32_t ) pxBottomOfStack ) |
					( portMPU_REGION_VALID ) |
					( portSTACK_REGION ); /* Region number. */

			xMPUSettings->xRegion[ 0 ].ulRegionAttribute =
					( portMPU_REGION_READ_WRITE ) | /* Read and write. */
					( prvGetMPURegionSizeSetting( ulStackDepth * ( uint32_t ) sizeof( StackType_t ) ) ) |
					( portMPU_REGION_CACHEABLE_BUFFERABLE ) |
					( portMPU_REGION_ENABLE );
		}

		lIndex = 0;

		for( ul = 1; ul <= portNUM_CONFIGURABLE_REGIONS; ul++ )
		{
			if( ( xRegions[ lIndex ] ).ulLengthInBytes > 0UL )
			{
				/* Translate the generic region definition contained in
				xRegions into the CM3 specific MPU settings that are then
				stored in xMPUSettings. */
				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress =
						( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) |
						( portMPU_REGION_VALID ) |
						( portSTACK_REGION + ul ); /* Region number. */

				xMPUSettings->xRegion[ ul ].ulRegionAttribute =
						( prvGetMPURegionSizeSetting( xRegions[ lIndex ].ulLengthInBytes ) ) |
						( xRegions[ lIndex ].ulParameters ) |
						( portMPU_REGION_ENABLE );
			}
			else
			{
				/* Invalidate the region. */
				xMPUSettings->xRegion[ ul ].ulRegionBaseAddress = ( portSTACK_REGION + ul ) | portMPU_REGION_VALID;
				xMPUSettings->xRegion[ ul ].ulRegionAttribute = 0UL;
			}

			lIndex++;
		}
	}
}
/*-----------------------------------------------------------*/

__asm uint32_t prvPortGetIPSR( void )
{
	PRESERVE8

	mrs r0, ipsr
	bx r14
}
/*-----------------------------------------------------------*/

#if( configASSERT_DEFINED == 1 )

	void vPortValidateInterruptPriority( void )
	{
	uint32_t ulCurrentInterrupt;
	uint8_t ucCurrentPriority;

		/* Obtain the number of the currently executing interrupt. */
		ulCurrentInterrupt = prvPortGetIPSR();

		/* Is the interrupt number a user defined interrupt? */
		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
		{
			/* Look up the interrupt's priority. */
			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

			/* The following assertion will fail if a service routine (ISR) for
			an interrupt that has been assigned a priority above
			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
			function.  ISR safe FreeRTOS API functions must *only* be called
			from interrupts that have been assigned a priority at or below
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Numerically low interrupt priority numbers represent logically high
			interrupt priorities, therefore the priority of the interrupt must
			be set to a value equal to or numerically *higher* than
			configMAX_SYSCALL_INTERRUPT_PRIORITY.

			Interrupts that	use the FreeRTOS API must not be left at their
			default priority of	zero as that is the highest possible priority,
			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
			and	therefore also guaranteed to be invalid.

			FreeRTOS maintains separate thread and ISR API functions to ensure
			interrupt entry is as fast and simple as possible.

			The following links provide detailed information:
			http://www.freertos.org/RTOS-Cortex-M3-M4.html
			http://www.freertos.org/FAQHelp.html */
			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
		}

		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
		that define each interrupt's priority to be split between bits that
		define the interrupt's pre-emption priority bits and bits that define
		the interrupt's sub-priority.  For simplicity all bits must be defined
		to be pre-emption priority bits.  The following assertion will fail if
		this is not the case (if some bits represent a sub-priority).

		If the application only uses CMSIS libraries for interrupt
		configuration then the correct setting can be achieved on all Cortex-M
		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
		scheduler.  Note however that some vendor specific peripheral libraries
		assume a non-zero priority group setting, in which cases using a value
		of zero will result in unpredicable behaviour. */
		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
	}

#endif /* configASSERT_DEFINED */