ARM Cortex-M23 (ARMv8-M) Demo for Nuvoton NuMaker-PFM-M2351 Board
Using Keil uVision and IAR IDEs
[RTOS Ports]
This page documents pre-configured FreeRTOS projects that target the
ARM Cortex-M23 core on the
Nuvoton NuMaker-PFM-M2351
board.
Two projects are provided:
-
An IAR Embedded Workbench
project that uses the IAR compiler.
-
A Keil uVision
project that uses the armclang
compiler.
The projects demonstrate using the ARM Cortex-M23 TrustZone and the ARM
Cortex-M23 Memory Protection Unit (MPU).
IMPORTANT! Notes on using the FreeRTOS ARM Cortex-M23 port
Please read all the following points before using this RTOS port.
- Source Code Organization
- The Demo Application
- Building and Running the RTOS Demo Application
- RTOS Configuration and Usage Details
Also see the FAQ
My application does not run, what could be wrong?,
the page that
describes running
FreeRTOS on ARMv8-M cores, and the page that describes
setting
ARM Cortex-M interrupt priorities for use with FreeRTOS.
Source Code Organization
The FreeRTOS zip file download contains the source code for all the FreeRTOS ports, and
every demo application. That means it contains many more files than are required
to use the FreeRTOS ARMv8-M Cortex-M23 port. See the
Source Code Organization page for information on the zip file's directory structure.
The project files for this demo are organized as follows:
-
The IAR Embedded Workbench project file is located in
FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/IAR
directory and is named FreeRTOSDemo.eww. This IAR workspace contains
two projects - one for the secure side of the ARM Cortex-M23 core, and
one for the non-secure side. The FreeRTOS ARMv8-M Cortex-M23 port files
compiled in these two projects are organized as follows:
- Port files compiled in the secure project are in the FreeRTOS/Source/portable/IAR/ARM_CM23/secure directory.
- Port files compiled in the non-secure project are in the FreeRTOS/Source/portable/IAR/ARM_CM23/non_secure directory.
-
The Keil uVision project file is located in
FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/Keil
directory and is named FreeRTOSDemo.uvmpw. This Keil multi-project
workspace contains two projects - one for the secure side of the ARM Cortex-M23
core, and one for the non-secure side. The FreeRTOS ARMv8-M Cortex-M23
port files compiled in these two projects are organized as follows:
- Port files compiled in the secure project are in the FreeRTOS/Source/portable/GCC/ARM_CM23/secure directory.
- Port files compiled in the non-secure project are in the FreeRTOS/Source/portable/GCC/ARM_CM23/non_secure directory.
The Demo Application
The projects include two demos:
- TrustZone Demo
- Memory Protection Unit (MPU) Demo
TrustZone Demo
The TrustZone demo demonstrates how to export functions from the secure side
of the ARM Cortex-M23 core, and how to call them from RTOS tasks on the
non-secure side.
- NonSecure Callable Function:
The following function is exported from the secure side and is marked
as non-secure callable:
secureportNON_SECURE_CALLABLE uint32_t NSCFunction( Callback_t pxCallback )
Note the use of secureportNON_SECURE_CALLABLE macro to mark
the function as non-secure callable. This function accepts a callback
as argument. It first invokes the callback function supplied as argument
and then increments a secure side counter. The incremented value of the
secure side counter is returned to the caller.
- NonSecure Callback:
The following function is implemented on the non-secure side and is
passed to the above mentioned non-secure callable function as argument:
void prvCallback( void )
This function increments a non-secure counter.
- Secure Calling Task:
An un-privileged non-secure task is created using the
xTaskCreateRestricted()
API. This task first calls portALLOCATE_SECURE_CONTEXT to allocate
itself a secure context - any non-secure task which wants to call a
function exported from the secure side must allocate itself a secure
context by calling portALLOCATE_SECURE_CONTEXT.
The task then calls the secure side function and passes the non-secure
callback as the argument. The non-secure counter is incremented in the callback
and the secure counter is incremented in the secure function. Therefore,
both the counters must be incremented after the call to the secure function
is complete - this is ensured using configASSERT(). The task
sleeps for one second and then repeats the same.
The TrustZone Demo Call Sequence
Memory Protection Unit (MPU) Demo
The MPU demo demonstrates how to use the MPU to grant a task different access permissions
for various memory regions. The MPU demo consists of the following two tasks:
- RW Task:
The RW task has Read-Write access to a shared region of memory (namely
ucSharedMemory).
- RO Task:
The RO task has Read-Only access to the same shared region of memory
(namely ucSharedMemory). This task tries to write to the
shared memory and since it has read only permission to the shared memory,
it results in a hard fault. The fault handler checks if it is the
expected fault from the RO task and if so, it recovers gracefully by
incrementing the Program Counter to the next statement.
Building and Running the RTOS Demo Application
Using IAR Embedded Workbench IDE
-
Download and install the Nu-Link USB Driver:
- Go to the following page:
Nuvoton NuMaker-PFM-M2351
- Click on the Resources tab.
- Scroll down to the Software section and download the file named Nu-Link_IAR_Driver_Vx.xx.xxxx.
- Unzip and install.
-
Double click the FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/IAR/FreeRTOSDemo.eww
file to open it in the IAR Embedded Workbench IDE. The IAR workspace
FreeRTOSDemo.eww contains a secure project (FreeRTOSDemo_s)
and a non-secure project (FreeRTOSDemo_ns).
-
Build the secure project by right clicking "FreeRTOSDemo_s - Release" and then clicking "Make".
IAR Embedded Workbench IDE - Build Secure Project. Click to enlarge.
-
Build the non-secure project by right clicking "FreeRTOSDemo_ns - Release" and then clicking "Make".
IAR Embedded Workbench IDE - Build Non-Secure Project. Click to enlarge.
-
Set the non-secure project as active by right clicking on "FreeRTOSDemo_ns - Release"
and then clicking "Set as Active".
IAR Embedded Workbench IDE - Set Non-Secure Project Active. Click to enlarge.
-
Flash the non-secure binary by clicking "Project --> Download --> Download active application".
IAR Embedded Workbench IDE - Flash the Non-Secure Binary. Click to enlarge.
-
Set the secure project as active by right clicking on "FreeRTOSDemo_s - Release"
and then clicking "Set as Active".
IAR Embedded Workbench IDE - Set Secure Project Active. Click to enlarge.
-
Flash the secure binary by clicking "Project --> Download --> Download active application".
IAR Embedded Workbench IDE - Flash the Secure Binary. Click to enlarge.
-
Start the Debug Session by clicking "Project --> Download and Debug".
IAR Embedded Workbench IDE - Start Debug Session. Click to enlarge.
Using Keil uVision IDE
-
Download and install the Nu-Link Keil Driver:
- Go to the following page: Nuvoton NuMaker-PFM-M2351
- Click on the Resources tab.
- Scroll down to the Software section and download the file named Nu-Link_Keil_Driver_Vx.xx.xxxx.
- Unzip and install.
-
Double click the FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/Keil/FreeRTOSDemo.uvmpw
file to open it in the Keil uVision IDE. The Keil multi-project workspace
FreeRTOSDemo.uvmpw contains a secure project (FreeRTOSDemo_s)
and a non-secure project (FreeRTOSDemo_ns).
-
Set the secure project as active by right clicking on "Project: FreeRTOSDemo_s"
and selecting "Set as Active Project".
Keil uVision IDE - Set Secure Project Active. Click to enlarge.
-
Build the secure project by clicking "Project --> Build 'FreeRTOSDemo_s (FreeRTOSDemo_s)'".
Keil uVision IDE - Build Secure Project. Click to enlarge.
-
Open the Options Window for the secure project by clicking "Project --> Options for FreeRTOSDemo_s - Target 'FreeRTOSDemo_s'...".
Keil uVision IDE - Open Secure Project Options. Click to enlarge.
-
Open the Nu-Link Driver Setup Window by clicking "Settings" button next to the "/fr-content-src/uploads/2019/05/Nuvoton Nu-Link Debugger" in the Debug tab.
Keil uVision IDE - Open Nu-Link Driver Setup. Click to enlarge.
-
Select "M2351" in the "Chip Type" dropdown.
Keil uVision IDE - Select M2351. Click to enlarge.
-
Dismiss "Nu-Link Driver Setup" and "Options" Windows by clicking "OK" on both the windows.
-
Set the non-secure project as active by right clicking on "Project: FreeRTOSDemo_ns"
and selecting "Set as Active Project".
Keil uVision IDE - Set Non-Secure Project Active. Click to enlarge.
-
Build the non-secure project by clicking "Project --> Build 'FreeRTOSDemo_ns (FreeRTOSDemo_ns)'".
Keil uVision IDE - Build Non-Secure Project. Click to enlarge.
-
Open the Options Window for the non-secure project by clicking "Project --> Options for FreeRTOSDemo_ns - Target 'FreeRTOSDemo_ns'...".
Keil uVision IDE - Open Non-Secure Project Options. Click to enlarge.
-
Open the Nu-Link Driver Setup Window by clicking "Settings" button next to the "/fr-content-src/uploads/2019/05/Nuvoton Nu-Link Debugger" in the Debug tab.
Keil uVision IDE - Open Nu-Link Driver Setup. Click to enlarge.
-
Select "M2351" in the "Chip Type" dropdown.
Keil uVision IDE - Select M2351. Click to enlarge.
-
Dismiss "Nu-Link Driver Setup" and "Options" Windows by clicking "OK" on both the windows.
-
Flash the non-secure binary by clicking "Flash --> Download".
Keil uVision IDE - Flash the Non-Secure Binary. Click to enlarge.
-
Set the secure project as active by right clicking on "Project: FreeRTOSDemo_s"
and selecting "Set as Active Project".
Keil uVision IDE - Set Secure Project Active. Click to enlarge.
-
Flash the secure binary by clicking "Flash --> Download".
Keil uVision IDE - Flash the Secure Binary. Click to enlarge.
-
Start the Debug Session by clicking "Debug --> Start/Stop Debug Session".
Keil uVision IDE - Start Debug Session. Click to enlarge.
Also see the page that
describes running
FreeRTOS on ARMv8-M cores, and the page that describes
setting
ARM Cortex-M interrupt priorities for use with FreeRTOS.
-
Configuration items specific to this demo are contained in
FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/Keil/ConfigFreeRTOSConfig.h
for the Keil uVision IDE project and in
FreeRTOS/Demo/CORTEX_MPU_M23_Nuvoton_NuMaker_PFM_M2351_IAR_GCC/Projects/IAR/ConfigFreeRTOSConfig.h
for the IAR Embedded Workbench IDE project. The constants defined in that file
can be edited to suit your application. The following configuration
options are specific to the ARM Cortex-M23 port:
- configENABLE_MPU - Enable/Disable Memory Protection Unit (MPU).
- configENABLE_TRUSTZONE - Enable/Disable TrustZone.
-
If you want to run FreeRTOS with TrustZone disabled, set configENABLE_TRUSTZONE
to 0 in your FreeRTOSConfig.h and use the FreeRTOS port files
in the FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ directory
for GCC and in the FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ
directory for IAR.
-
If you want to run FreeRTOS on the secure side, set configENABLE_TRUSTZONE
to 0 and configRUN_FREERTOS_SECURE_ONLY to 1 in your FreeRTOSConfig.h
and use the FreeRTOS port files in the FreeRTOS/Source/portable/GCC/ARM_CM23_NTZ
directory for GCC and in the FreeRTOS/Source/portable/IAR/ARM_CM23_NTZ
directory for IAR.
-
Source/Portable/MemMang/heap_4.c is included in the project
to provide the memory allocation required by the RTOS kernel. Please
refer to the Memory Management section of
the API documentation for full information.
-
vPortEndScheduler() has not been implemented.
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