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mpu_wrappers_v2.c
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mpu_wrappers_v2.c
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/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* Implementation of the wrapper functions used to raise the processor privilege
* before calling a standard FreeRTOS API function.
*/
/* 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"
#include "queue.h"
#include "timers.h"
#include "event_groups.h"
#include "stream_buffer.h"
#include "mpu_prototypes.h"
#include "mpu_syscall_numbers.h"
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
/*-----------------------------------------------------------*/
#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
#ifndef configPROTECTED_KERNEL_OBJECT_POOL_SIZE
#error configPROTECTED_KERNEL_OBJECT_POOL_SIZE must be defined to maximum number of kernel objects in the application.
#endif
/**
* @brief Offset added to the index before returning to the user.
*
* If the actual handle is stored at index i, ( i + INDEX_OFFSET )
* is returned to the user.
*/
#define INDEX_OFFSET 1
/**
* @brief Opaque type for a kernel object.
*/
struct OpaqueObject;
typedef struct OpaqueObject * OpaqueObjectHandle_t;
/**
* @brief Defines kernel object in the kernel object pool.
*/
typedef struct KernelObject
{
OpaqueObjectHandle_t xInternalObjectHandle;
uint32_t ulKernelObjectType;
void * pvKernelObjectData;
} KernelObject_t;
/**
* @brief Kernel object types.
*/
#define KERNEL_OBJECT_TYPE_INVALID ( 0UL )
#define KERNEL_OBJECT_TYPE_QUEUE ( 1UL )
#define KERNEL_OBJECT_TYPE_TASK ( 2UL )
#define KERNEL_OBJECT_TYPE_STREAM_BUFFER ( 3UL )
#define KERNEL_OBJECT_TYPE_EVENT_GROUP ( 4UL )
#define KERNEL_OBJECT_TYPE_TIMER ( 5UL )
/**
* @brief Checks whether an external index is valid or not.
*/
#define IS_EXTERNAL_INDEX_VALID( lIndex ) \
( ( ( ( lIndex ) >= INDEX_OFFSET ) && \
( ( lIndex ) < ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE + INDEX_OFFSET ) ) ) ? pdTRUE : pdFALSE )
/**
* @brief Checks whether an internal index is valid or not.
*/
#define IS_INTERNAL_INDEX_VALID( lIndex ) \
( ( ( ( lIndex ) >= 0 ) && \
( ( lIndex ) < ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE ) ) ) ? pdTRUE : pdFALSE )
/**
* @brief Converts an internal index into external.
*/
#define CONVERT_TO_EXTERNAL_INDEX( lIndex ) ( ( lIndex ) + INDEX_OFFSET )
/**
* @brief Converts an external index into internal.
*/
#define CONVERT_TO_INTERNAL_INDEX( lIndex ) ( ( lIndex ) - INDEX_OFFSET )
/**
* @brief Max value that fits in a uint32_t type.
*/
#define mpuUINT32_MAX ( ~( ( uint32_t ) 0 ) )
/**
* @brief Check if multiplying a and b will result in overflow.
*/
#define mpuMULTIPLY_UINT32_WILL_OVERFLOW( a, b ) ( ( ( a ) > 0 ) && ( ( b ) > ( mpuUINT32_MAX / ( a ) ) ) )
/**
* @brief Get the index of a free slot in the kernel object pool.
*
* If a free slot is found, this function marks the slot as
* "not free".
*
* @return Index of a free slot is returned, if a free slot is
* found. Otherwise -1 is returned.
*/
static int32_t MPU_GetFreeIndexInKernelObjectPool( void ) PRIVILEGED_FUNCTION;
/**
* @brief Set the given index as free in the kernel object pool.
*
* @param lIndex The index to set as free.
*/
static void MPU_SetIndexFreeInKernelObjectPool( int32_t lIndex ) PRIVILEGED_FUNCTION;
/**
* @brief Get the index at which a given kernel object is stored.
*
* @param xHandle The given kernel object handle.
* @param ulKernelObjectType The kernel object type.
*
* @return Index at which the kernel object is stored if it is a valid
* handle, -1 otherwise.
*/
static int32_t MPU_GetIndexForHandle( OpaqueObjectHandle_t xHandle,
uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
/**
* @brief Store the given kernel object handle at the given index in
* the kernel object pool.
*
* @param lIndex Index to store the given handle at.
* @param xHandle Kernel object handle to store.
* @param pvKernelObjectData The data associated with the kernel object.
* Currently, only used for timer objects to store timer callback.
* @param ulKernelObjectType The kernel object type.
*/
static void MPU_StoreHandleAndDataAtIndex( int32_t lIndex,
OpaqueObjectHandle_t xHandle,
void * pvKernelObjectData,
uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
/**
* @brief Get the kernel object handle at the given index from
* the kernel object pool.
*
* @param lIndex Index at which to get the kernel object handle.
* @param ulKernelObjectType The kernel object type.
*
* @return The kernel object handle at the index.
*/
static OpaqueObjectHandle_t MPU_GetHandleAtIndex( int32_t lIndex,
uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
#if ( configUSE_TIMERS == 1 )
/**
* @brief The function registered as callback for all the timers.
*
* We intercept all the timer callbacks so that we can call application
* callbacks with opaque handle.
*
* @param xInternalHandle The internal timer handle.
*/
static void MPU_TimerCallback( TimerHandle_t xInternalHandle ) PRIVILEGED_FUNCTION;
#endif /* #if ( configUSE_TIMERS == 1 ) */
/*
* Wrappers to keep all the casting in one place.
*/
#define MPU_StoreQueueHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), NULL, KERNEL_OBJECT_TYPE_QUEUE )
#define MPU_GetQueueHandleAtIndex( lIndex ) ( QueueHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_QUEUE )
#if ( configUSE_QUEUE_SETS == 1 )
#define MPU_StoreQueueSetHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), NULL, KERNEL_OBJECT_TYPE_QUEUE )
#define MPU_GetQueueSetHandleAtIndex( lIndex ) ( QueueSetHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_QUEUE )
#define MPU_StoreQueueSetMemberHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), NULL, KERNEL_OBJECT_TYPE_QUEUE )
#define MPU_GetQueueSetMemberHandleAtIndex( lIndex ) ( QueueSetMemberHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_QUEUE )
#define MPU_GetIndexForQueueSetMemberHandle( xHandle ) MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) ( xHandle ), KERNEL_OBJECT_TYPE_QUEUE )
#endif
/*
* Wrappers to keep all the casting in one place for Task APIs.
*/
#define MPU_StoreTaskHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), NULL, KERNEL_OBJECT_TYPE_TASK )
#define MPU_GetTaskHandleAtIndex( lIndex ) ( TaskHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_TASK )
#define MPU_GetIndexForTaskHandle( xHandle ) MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) ( xHandle ), KERNEL_OBJECT_TYPE_TASK )
#if ( configUSE_EVENT_GROUPS == 1 )
/*
* Wrappers to keep all the casting in one place for Event Group APIs.
*/
#define MPU_StoreEventGroupHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), NULL, KERNEL_OBJECT_TYPE_EVENT_GROUP )
#define MPU_GetEventGroupHandleAtIndex( lIndex ) ( EventGroupHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_EVENT_GROUP )
#define MPU_GetIndexForEventGroupHandle( xHandle ) MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) ( xHandle ), KERNEL_OBJECT_TYPE_EVENT_GROUP )
#endif /* #if ( configUSE_EVENT_GROUPS == 1 ) */
#if ( configUSE_STREAM_BUFFERS == 1 )
/*
* Wrappers to keep all the casting in one place for Stream Buffer APIs.
*/
#define MPU_StoreStreamBufferHandleAtIndex( lIndex, xHandle ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle), NULL, KERNEL_OBJECT_TYPE_STREAM_BUFFER )
#define MPU_GetStreamBufferHandleAtIndex( lIndex ) ( StreamBufferHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_STREAM_BUFFER )
#define MPU_GetIndexForStreamBufferHandle( xHandle ) MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) ( xHandle ), KERNEL_OBJECT_TYPE_STREAM_BUFFER )
#endif /* #if ( configUSE_STREAM_BUFFERS == 1 ) */
#if ( configUSE_TIMERS == 1 )
/*
* Wrappers to keep all the casting in one place for Timer APIs.
*/
#define MPU_StoreTimerHandleAtIndex( lIndex, xHandle, pxApplicationCallback ) MPU_StoreHandleAndDataAtIndex( ( lIndex ), ( OpaqueObjectHandle_t ) ( xHandle ), ( void * ) ( pxApplicationCallback ), KERNEL_OBJECT_TYPE_TIMER )
#define MPU_GetTimerHandleAtIndex( lIndex ) ( TimerHandle_t ) MPU_GetHandleAtIndex( ( lIndex ), KERNEL_OBJECT_TYPE_TIMER )
#define MPU_GetIndexForTimerHandle( xHandle ) MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) ( xHandle ), KERNEL_OBJECT_TYPE_TIMER )
#endif /* #if ( configUSE_TIMERS == 1 ) */
/*-----------------------------------------------------------*/
/**
* @brief Kernel object pool.
*/
PRIVILEGED_DATA static KernelObject_t xKernelObjectPool[ configPROTECTED_KERNEL_OBJECT_POOL_SIZE ] = { 0 };
/*-----------------------------------------------------------*/
static int32_t MPU_GetFreeIndexInKernelObjectPool( void ) /* PRIVILEGED_FUNCTION */
{
int32_t i, lFreeIndex = -1;
/* This function is called only from resource create APIs
* which are not supposed to be called from ISRs. Therefore,
* we only need to suspend the scheduler and do not require
* critical section. */
vTaskSuspendAll();
{
for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
{
if( xKernelObjectPool[ i ].xInternalObjectHandle == NULL )
{
/* Mark this index as not free. */
xKernelObjectPool[ i ].xInternalObjectHandle = ( OpaqueObjectHandle_t ) ( ~0U );
lFreeIndex = i;
break;
}
}
}
( void ) xTaskResumeAll();
return lFreeIndex;
}
/*-----------------------------------------------------------*/
static void MPU_SetIndexFreeInKernelObjectPool( int32_t lIndex ) /* PRIVILEGED_FUNCTION */
{
configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
taskENTER_CRITICAL();
{
xKernelObjectPool[ lIndex ].xInternalObjectHandle = NULL;
xKernelObjectPool[ lIndex ].ulKernelObjectType = KERNEL_OBJECT_TYPE_INVALID;
xKernelObjectPool[ lIndex ].pvKernelObjectData = NULL;
}
taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/
static int32_t MPU_GetIndexForHandle( OpaqueObjectHandle_t xHandle,
uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
{
int32_t i, lIndex = -1;
configASSERT( xHandle != NULL );
for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
{
if( ( xKernelObjectPool[ i ].xInternalObjectHandle == xHandle ) &&
( xKernelObjectPool[ i ].ulKernelObjectType == ulKernelObjectType ) )
{
lIndex = i;
break;
}
}
return lIndex;
}
/*-----------------------------------------------------------*/
static void MPU_StoreHandleAndDataAtIndex( int32_t lIndex,
OpaqueObjectHandle_t xHandle,
void * pvKernelObjectData,
uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
{
configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
xKernelObjectPool[ lIndex ].xInternalObjectHandle = xHandle;
xKernelObjectPool[ lIndex ].ulKernelObjectType = ulKernelObjectType;
xKernelObjectPool[ lIndex ].pvKernelObjectData = pvKernelObjectData;
}
/*-----------------------------------------------------------*/
static OpaqueObjectHandle_t MPU_GetHandleAtIndex( int32_t lIndex,
uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
{
OpaqueObjectHandle_t xObjectHandle = NULL;
configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
if( xKernelObjectPool[ lIndex ].ulKernelObjectType == ulKernelObjectType )
{
xObjectHandle = xKernelObjectPool[ lIndex ].xInternalObjectHandle;
}
return xObjectHandle;
}
/*-----------------------------------------------------------*/
#if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
void vGrantAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
int32_t lExternalKernelObjectHandle ) /* PRIVILEGED_FUNCTION */
{
int32_t lExternalTaskIndex;
TaskHandle_t xInternalTaskHandle = NULL;
if( IS_EXTERNAL_INDEX_VALID( lExternalKernelObjectHandle ) != pdFALSE )
{
if( xExternalTaskHandle == NULL )
{
vPortGrantAccessToKernelObject( xExternalTaskHandle, CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
}
else
{
lExternalTaskIndex = ( int32_t ) xExternalTaskHandle;
if( IS_EXTERNAL_INDEX_VALID( lExternalTaskIndex ) != pdFALSE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lExternalTaskIndex ) );
if( xInternalTaskHandle != NULL )
{
vPortGrantAccessToKernelObject( xInternalTaskHandle,
CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
}
}
}
}
}
#endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
/*-----------------------------------------------------------*/
#if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
void vRevokeAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
int32_t lExternalKernelObjectHandle ) /* PRIVILEGED_FUNCTION */
{
int32_t lExternalTaskIndex;
TaskHandle_t xInternalTaskHandle = NULL;
if( IS_EXTERNAL_INDEX_VALID( lExternalKernelObjectHandle ) != pdFALSE )
{
if( xExternalTaskHandle == NULL )
{
vPortRevokeAccessToKernelObject( xExternalTaskHandle, CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
}
else
{
lExternalTaskIndex = ( int32_t ) xExternalTaskHandle;
if( IS_EXTERNAL_INDEX_VALID( lExternalTaskIndex ) != pdFALSE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lExternalTaskIndex ) );
if( xInternalTaskHandle != NULL )
{
vPortRevokeAccessToKernelObject( xInternalTaskHandle,
CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
}
}
}
}
}
#endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_TIMERS == 1 )
static void MPU_TimerCallback( TimerHandle_t xInternalHandle ) /* PRIVILEGED_FUNCTION */
{
int32_t i, lIndex = -1;
TimerHandle_t xExternalHandle = NULL;
TimerCallbackFunction_t pxApplicationCallBack = NULL;
/* Coming from the timer task and therefore, should be valid. */
configASSERT( xInternalHandle != NULL );
for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
{
if( ( ( TimerHandle_t ) xKernelObjectPool[ i ].xInternalObjectHandle == xInternalHandle ) &&
( xKernelObjectPool[ i ].ulKernelObjectType == KERNEL_OBJECT_TYPE_TIMER ) )
{
lIndex = i;
break;
}
}
configASSERT( lIndex != -1 );
xExternalHandle = ( TimerHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
pxApplicationCallBack = ( TimerCallbackFunction_t ) xKernelObjectPool[ lIndex ].pvKernelObjectData;
pxApplicationCallBack( xExternalHandle );
}
#endif /* #if ( configUSE_TIMERS == 1 ) */
/*-----------------------------------------------------------*/
/*-----------------------------------------------------------*/
/* MPU wrappers for tasks APIs. */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskDelayUntil == 1 )
BaseType_t MPU_xTaskDelayUntilImpl( TickType_t * const pxPreviousWakeTime,
TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskDelayUntilImpl( TickType_t * const pxPreviousWakeTime,
TickType_t xTimeIncrement ) /* PRIVILEGED_FUNCTION */
{
BaseType_t xReturn = pdFAIL;
BaseType_t xIsPreviousWakeTimeAccessible = pdFALSE;
if( ( pxPreviousWakeTime != NULL ) && ( xTimeIncrement > 0U ) )
{
xIsPreviousWakeTimeAccessible = xPortIsAuthorizedToAccessBuffer( pxPreviousWakeTime,
sizeof( TickType_t ),
( tskMPU_WRITE_PERMISSION | tskMPU_READ_PERMISSION ) );
if( xIsPreviousWakeTimeAccessible == pdTRUE )
{
xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
}
}
return xReturn;
}
#endif /* if ( INCLUDE_xTaskDelayUntil == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskAbortDelay == 1 )
BaseType_t MPU_xTaskAbortDelayImpl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskAbortDelayImpl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
{
BaseType_t xReturn = pdFAIL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
TaskHandle_t xInternalTaskHandle = NULL;
int32_t lIndex;
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
xReturn = xTaskAbortDelay( xInternalTaskHandle );
}
}
}
return xReturn;
}
#endif /* if ( INCLUDE_xTaskAbortDelay == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskDelay == 1 )
void MPU_vTaskDelayImpl( TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
void MPU_vTaskDelayImpl( TickType_t xTicksToDelay ) /* PRIVILEGED_FUNCTION */
{
vTaskDelay( xTicksToDelay );
}
#endif /* if ( INCLUDE_vTaskDelay == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_uxTaskPriorityGet == 1 )
UBaseType_t MPU_uxTaskPriorityGetImpl( const TaskHandle_t pxTask ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskPriorityGetImpl( const TaskHandle_t pxTask ) /* PRIVILEGED_FUNCTION */
{
UBaseType_t uxReturn = configMAX_PRIORITIES;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
if( pxTask == NULL )
{
uxReturn = uxTaskPriorityGet( pxTask );
}
else
{
lIndex = ( int32_t ) pxTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
uxReturn = uxTaskPriorityGet( xInternalTaskHandle );
}
}
}
}
return uxReturn;
}
#endif /* if ( INCLUDE_uxTaskPriorityGet == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_eTaskGetState == 1 )
eTaskState MPU_eTaskGetStateImpl( TaskHandle_t pxTask ) PRIVILEGED_FUNCTION;
eTaskState MPU_eTaskGetStateImpl( TaskHandle_t pxTask ) /* PRIVILEGED_FUNCTION */
{
eTaskState eReturn = eInvalid;
TaskHandle_t xInternalTaskHandle = NULL;
int32_t lIndex;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
lIndex = ( int32_t ) pxTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
eReturn = eTaskGetState( xInternalTaskHandle );
}
}
}
return eReturn;
}
#endif /* if ( INCLUDE_eTaskGetState == 1 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_TRACE_FACILITY == 1 )
void MPU_vTaskGetInfoImpl( TaskHandle_t xTask,
TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) PRIVILEGED_FUNCTION;
void MPU_vTaskGetInfoImpl( TaskHandle_t xTask,
TaskStatus_t * pxTaskStatus,
BaseType_t xGetFreeStackSpace,
eTaskState eState ) /* PRIVILEGED_FUNCTION */
{
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xIsTaskStatusWriteable = pdFALSE;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
xIsTaskStatusWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatus,
sizeof( TaskStatus_t ),
tskMPU_WRITE_PERMISSION );
if( xIsTaskStatusWriteable == pdTRUE )
{
if( xTask == NULL )
{
vTaskGetInfo( xTask, pxTaskStatus, xGetFreeStackSpace, eState );
}
else
{
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
vTaskGetInfo( xInternalTaskHandle, pxTaskStatus, xGetFreeStackSpace, eState );
}
}
}
}
}
}
#endif /* if ( configUSE_TRACE_FACILITY == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
TaskHandle_t MPU_xTaskGetIdleTaskHandleImpl( void ) PRIVILEGED_FUNCTION;
TaskHandle_t MPU_xTaskGetIdleTaskHandleImpl( void ) /* PRIVILEGED_FUNCTION */
{
TaskHandle_t xIdleTaskHandle = NULL;
xIdleTaskHandle = xTaskGetIdleTaskHandle();
return xIdleTaskHandle;
}
#endif /* if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void MPU_vTaskSuspendImpl( TaskHandle_t pxTaskToSuspend ) PRIVILEGED_FUNCTION;
void MPU_vTaskSuspendImpl( TaskHandle_t pxTaskToSuspend ) /* PRIVILEGED_FUNCTION */
{
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( pxTaskToSuspend == NULL )
{
vTaskSuspend( pxTaskToSuspend );
}
else
{
/* After the scheduler starts, only privileged tasks are allowed
* to suspend other tasks. */
#if ( INCLUDE_xTaskGetSchedulerState == 1 )
if( ( xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED ) || ( portIS_TASK_PRIVILEGED() == pdTRUE ) )
#else
if( portIS_TASK_PRIVILEGED() == pdTRUE )
#endif
{
lIndex = ( int32_t ) pxTaskToSuspend;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
vTaskSuspend( xInternalTaskHandle );
}
}
}
}
}
}
#endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
/*-----------------------------------------------------------*/
#if ( INCLUDE_vTaskSuspend == 1 )
void MPU_vTaskResumeImpl( TaskHandle_t pxTaskToResume ) PRIVILEGED_FUNCTION;
void MPU_vTaskResumeImpl( TaskHandle_t pxTaskToResume ) /* PRIVILEGED_FUNCTION */
{
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
lIndex = ( int32_t ) pxTaskToResume;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
vTaskResume( xInternalTaskHandle );
}
}
}
}
#endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
/*-----------------------------------------------------------*/
TickType_t MPU_xTaskGetTickCountImpl( void ) PRIVILEGED_FUNCTION;
TickType_t MPU_xTaskGetTickCountImpl( void ) /* PRIVILEGED_FUNCTION */
{
TickType_t xReturn;
xReturn = xTaskGetTickCount();
return xReturn;
}
/*-----------------------------------------------------------*/
UBaseType_t MPU_uxTaskGetNumberOfTasksImpl( void ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskGetNumberOfTasksImpl( void ) /* PRIVILEGED_FUNCTION */
{
UBaseType_t uxReturn;
uxReturn = uxTaskGetNumberOfTasks();
return uxReturn;
}
/*-----------------------------------------------------------*/
#if ( configGENERATE_RUN_TIME_STATS == 1 )
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounterImpl( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounterImpl( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
{
configRUN_TIME_COUNTER_TYPE xReturn = 0;
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( xTask == NULL )
{
xReturn = ulTaskGetRunTimeCounter( xTask );
}
else
{
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
xReturn = ulTaskGetRunTimeCounter( xInternalTaskHandle );
}
}
}
}
return xReturn;
}
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) */
/*-----------------------------------------------------------*/
#if ( configGENERATE_RUN_TIME_STATS == 1 )
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercentImpl( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercentImpl( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
{
configRUN_TIME_COUNTER_TYPE xReturn = 0;
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( xTask == NULL )
{
xReturn = ulTaskGetRunTimePercent( xTask );
}
else
{
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
xReturn = ulTaskGetRunTimePercent( xInternalTaskHandle );
}
}
}
}
return xReturn;
}
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) */
/*-----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercentImpl( void ) PRIVILEGED_FUNCTION;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercentImpl( void ) /* PRIVILEGED_FUNCTION */
{
configRUN_TIME_COUNTER_TYPE xReturn;
xReturn = ulTaskGetIdleRunTimePercent();
return xReturn;
}
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounterImpl( void ) PRIVILEGED_FUNCTION;
configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounterImpl( void ) /* PRIVILEGED_FUNCTION */
{
configRUN_TIME_COUNTER_TYPE xReturn;
xReturn = ulTaskGetIdleRunTimeCounter();
return xReturn;
}
#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
void MPU_vTaskSetApplicationTaskTagImpl( TaskHandle_t xTask,
TaskHookFunction_t pxTagValue ) PRIVILEGED_FUNCTION;
void MPU_vTaskSetApplicationTaskTagImpl( TaskHandle_t xTask,
TaskHookFunction_t pxTagValue ) /* PRIVILEGED_FUNCTION */
{
TaskHandle_t xInternalTaskHandle = NULL;
int32_t lIndex;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( xTask == NULL )
{
vTaskSetApplicationTaskTag( xTask, pxTagValue );
}
else
{
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
vTaskSetApplicationTaskTag( xInternalTaskHandle, pxTagValue );
}
}
}
}
}
#endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
/*-----------------------------------------------------------*/
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t MPU_xTaskGetApplicationTaskTagImpl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTagImpl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
{
TaskHookFunction_t xReturn = NULL;
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( xTask == NULL )
{
xReturn = xTaskGetApplicationTaskTag( xTask );
}
else
{
lIndex = ( int32_t ) xTask;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
xReturn = xTaskGetApplicationTaskTag( xInternalTaskHandle );
}
}
}
}
return xReturn;
}
#endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
/*-----------------------------------------------------------*/
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
void MPU_vTaskSetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue ) PRIVILEGED_FUNCTION;
void MPU_vTaskSetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToSet,
BaseType_t xIndex,
void * pvValue ) /* PRIVILEGED_FUNCTION */
{
int32_t lIndex;
TaskHandle_t xInternalTaskHandle = NULL;
BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
if( xTaskToSet == NULL )
{
vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue );
}
else
{
lIndex = ( int32_t ) xTaskToSet;
if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
{
xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
{
xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
if( xInternalTaskHandle != NULL )
{
vTaskSetThreadLocalStoragePointer( xInternalTaskHandle, xIndex, pvValue );
}
}