Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
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/******************************************************************************
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* @file main_s.c
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* @brief Code template for secure main function
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* @version V1.1.1
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* @date 10. January 2018
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******************************************************************************/
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/*
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* Copyright (c) 2013-2018 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/* Use CMSE intrinsics */
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#include <arm_cmse.h>
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#include "RTE_Components.h"
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#include CMSIS_device_header
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/* TZ_START_NS: Start address of non-secure application */
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#ifndef TZ_START_NS
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#define TZ_START_NS (0x200000U)
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#endif
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/* typedef for non-secure callback functions */
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typedef void (*funcptr_void) (void) __attribute__((cmse_nonsecure_call));
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/* Secure main() */
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int main(void) {
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funcptr_void NonSecure_ResetHandler;
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/* Add user setup code for secure part here*/
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/* Set non-secure main stack (MSP_NS) */
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__TZ_set_MSP_NS(*((uint32_t *)(TZ_START_NS)));
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/* Get non-secure reset handler */
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NonSecure_ResetHandler = (funcptr_void)(*((uint32_t *)((TZ_START_NS) + 4U)));
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/* Start non-secure state software application */
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NonSecure_ResetHandler();
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/* Non-secure software does not return, this code is not executed */
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while (1) {
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__NOP();
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}
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}
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/******************************************************************************
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* @file tz_context.c
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* @brief Context Management for Armv8-M TrustZone - Sample implementation
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* @version V1.1.1
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* @date 10. January 2018
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******************************************************************************/
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/*
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* Copyright (c) 2016-2018 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "RTE_Components.h"
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#include CMSIS_device_header
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#include "tz_context.h"
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/// Number of process slots (threads may call secure library code)
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#ifndef TZ_PROCESS_STACK_SLOTS
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#define TZ_PROCESS_STACK_SLOTS 8U
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#endif
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/// Stack size of the secure library code
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#ifndef TZ_PROCESS_STACK_SIZE
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#define TZ_PROCESS_STACK_SIZE 256U
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#endif
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typedef struct {
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uint32_t sp_top; // stack space top
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uint32_t sp_limit; // stack space limit
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uint32_t sp; // current stack pointer
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} stack_info_t;
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static stack_info_t ProcessStackInfo [TZ_PROCESS_STACK_SLOTS];
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static uint64_t ProcessStackMemory[TZ_PROCESS_STACK_SLOTS][TZ_PROCESS_STACK_SIZE/8U];
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static uint32_t ProcessStackFreeSlot = 0xFFFFFFFFU;
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/// Initialize secure context memory system
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/// \return execution status (1: success, 0: error)
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__attribute__((cmse_nonsecure_entry))
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uint32_t TZ_InitContextSystem_S (void) {
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uint32_t n;
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if (__get_IPSR() == 0U) {
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return 0U; // Thread Mode
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}
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for (n = 0U; n < TZ_PROCESS_STACK_SLOTS; n++) {
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ProcessStackInfo[n].sp = 0U;
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ProcessStackInfo[n].sp_limit = (uint32_t)&ProcessStackMemory[n];
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ProcessStackInfo[n].sp_top = (uint32_t)&ProcessStackMemory[n] + TZ_PROCESS_STACK_SIZE;
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*((uint32_t *)ProcessStackMemory[n]) = n + 1U;
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}
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*((uint32_t *)ProcessStackMemory[--n]) = 0xFFFFFFFFU;
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ProcessStackFreeSlot = 0U;
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// Default process stack pointer and stack limit
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__set_PSPLIM((uint32_t)ProcessStackMemory);
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__set_PSP ((uint32_t)ProcessStackMemory);
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// Privileged Thread Mode using PSP
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__set_CONTROL(0x02U);
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return 1U; // Success
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}
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/// Allocate context memory for calling secure software modules in TrustZone
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/// \param[in] module identifies software modules called from non-secure mode
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/// \return value != 0 id TrustZone memory slot identifier
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/// \return value 0 no memory available or internal error
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__attribute__((cmse_nonsecure_entry))
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TZ_MemoryId_t TZ_AllocModuleContext_S (TZ_ModuleId_t module) {
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uint32_t slot;
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(void)module; // Ignore (fixed Stack size)
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if (__get_IPSR() == 0U) {
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return 0U; // Thread Mode
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}
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if (ProcessStackFreeSlot == 0xFFFFFFFFU) {
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return 0U; // No slot available
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}
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slot = ProcessStackFreeSlot;
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ProcessStackFreeSlot = *((uint32_t *)ProcessStackMemory[slot]);
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ProcessStackInfo[slot].sp = ProcessStackInfo[slot].sp_top;
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return (slot + 1U);
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}
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/// Free context memory that was previously allocated with \ref TZ_AllocModuleContext_S
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/// \param[in] id TrustZone memory slot identifier
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/// \return execution status (1: success, 0: error)
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__attribute__((cmse_nonsecure_entry))
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uint32_t TZ_FreeModuleContext_S (TZ_MemoryId_t id) {
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uint32_t slot;
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if (__get_IPSR() == 0U) {
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return 0U; // Thread Mode
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}
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if ((id == 0U) || (id > TZ_PROCESS_STACK_SLOTS)) {
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return 0U; // Invalid ID
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}
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slot = id - 1U;
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if (ProcessStackInfo[slot].sp == 0U) {
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return 0U; // Inactive slot
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}
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ProcessStackInfo[slot].sp = 0U;
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*((uint32_t *)ProcessStackMemory[slot]) = ProcessStackFreeSlot;
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ProcessStackFreeSlot = slot;
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return 1U; // Success
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}
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/// Load secure context (called on RTOS thread context switch)
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/// \param[in] id TrustZone memory slot identifier
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/// \return execution status (1: success, 0: error)
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__attribute__((cmse_nonsecure_entry))
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uint32_t TZ_LoadContext_S (TZ_MemoryId_t id) {
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uint32_t slot;
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if ((__get_IPSR() == 0U) || ((__get_CONTROL() & 2U) == 0U)) {
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return 0U; // Thread Mode or using Main Stack for threads
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}
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if ((id == 0U) || (id > TZ_PROCESS_STACK_SLOTS)) {
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return 0U; // Invalid ID
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}
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slot = id - 1U;
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if (ProcessStackInfo[slot].sp == 0U) {
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return 0U; // Inactive slot
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}
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// Setup process stack pointer and stack limit
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__set_PSPLIM(ProcessStackInfo[slot].sp_limit);
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__set_PSP (ProcessStackInfo[slot].sp);
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return 1U; // Success
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}
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/// Store secure context (called on RTOS thread context switch)
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/// \param[in] id TrustZone memory slot identifier
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/// \return execution status (1: success, 0: error)
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__attribute__((cmse_nonsecure_entry))
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uint32_t TZ_StoreContext_S (TZ_MemoryId_t id) {
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uint32_t slot;
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uint32_t sp;
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if ((__get_IPSR() == 0U) || ((__get_CONTROL() & 2U) == 0U)) {
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return 0U; // Thread Mode or using Main Stack for threads
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}
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if ((id == 0U) || (id > TZ_PROCESS_STACK_SLOTS)) {
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return 0U; // Invalid ID
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}
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slot = id - 1U;
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if (ProcessStackInfo[slot].sp == 0U) {
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return 0U; // Inactive slot
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}
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sp = __get_PSP();
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if ((sp < ProcessStackInfo[slot].sp_limit) ||
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(sp > ProcessStackInfo[slot].sp_top)) {
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return 0U; // SP out of range
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}
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ProcessStackInfo[slot].sp = sp;
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// Default process stack pointer and stack limit
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__set_PSPLIM((uint32_t)ProcessStackMemory);
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__set_PSP ((uint32_t)ProcessStackMemory);
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return 1U; // Success
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}
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