#include "stm32h7xx_hal.h"
#include "icarus/config.h"

Macros
#define	BSP_ITCM_BASE 0x00000000UL
	ITCM RAM base address (64KB, zero wait-state code)

#define	BSP_ITCM_SIZE (64 * 1024)

#define	BSP_DTCM_BASE 0x20000000UL
	DTCM RAM base address (128KB, zero wait-state data)

#define	BSP_DTCM_SIZE (128 * 1024)

#define	BSP_DTCM_OBC_BASE 0x20010000UL
	Upper DTCM for OBC application hot data (64KB, unprivileged RW)

#define	BSP_DTCM_OBC_SIZE (64 * 1024)

#define	BSP_RAM_D1_BASE 0x24000000UL
	AXI SRAM (RAM_D1) base address (512KB)

#define	BSP_RAM_D1_SIZE (512 * 1024)

#define	BSP_RAM_D2_BASE 0x30000000UL
	AHB SRAM (RAM_D2) base address (288KB)

#define	BSP_RAM_D2_SIZE (288 * 1024)

#define	BSP_RAM_D3_BASE 0x38000000UL
	AHB SRAM (RAM_D3) base address (64KB)

#define	BSP_RAM_D3_SIZE (64 * 1024)

#define	BSP_FLASH_BASE 0x08000000UL
	Internal Flash base address (128KB)

#define	BSP_FLASH_SIZE (128 * 1024)

#define	BSP_QSPI_BASE 0x90000000UL
	QSPI Flash base address (8MB external)

#define	BSP_QSPI_SIZE (8 * 1024 * 1024)

#define	BSP_PERIPH_BASE 0x40000000
	Peripheral base address (512MB)

#define	BSP_PERIPH_SIZE (512 * 1024 * 1024)

#define	MPU_REGION_ITCM_BASE MPU_REGION_NUMBER0

#define	MPU_REGION_QSPI_FLASH MPU_REGION_NUMBER1

#define	MPU_REGION_FLASH MPU_REGION_NUMBER2

#define	MPU_REGION_DTCM_OBC MPU_REGION_NUMBER3

#define	MPU_REGION_TASK_DATA MPU_REGION_NUMBER4

#define	MPU_REGION_DTCM MPU_REGION_NUMBER5

#define	MPU_REGION_RAM_D1 MPU_REGION_NUMBER6

#define	MPU_REGION_PERIPH MPU_REGION_NUMBER7

#define	BYTES_TO_MPU_SIZE(bytes)
	Convert size in bytes to MPU region size constant.

#define	TASK_DATA_SIZE_BYTES ((ICARUS_DATA_WORDS) * 4u)
	Task data region size for MPU configuration.

#define	TASK_DATA_SIZE_MPU MPU_REGION_SIZE_2KB

Functions
void	MPU_Config (void)
	Configure Memory Protection Unit regions.

void	MPU_ConfigureTaskData (uint32_t task_data_base)
	Configure MPU Region 4 for current task's data region.

Macro Definition Documentation

◆ BYTES_TO_MPU_SIZE

#define BYTES_TO_MPU_SIZE ( bytes )

Value:

    ( \
    (bytes) == 32        ? MPU_REGION_SIZE_32B   : \
    (bytes) == 64        ? MPU_REGION_SIZE_64B   : \
    (bytes) == 128       ? MPU_REGION_SIZE_128B  : \
    (bytes) == 256       ? MPU_REGION_SIZE_256B  : \
    (bytes) == 512       ? MPU_REGION_SIZE_512B  : \
    (bytes) == 1024      ? MPU_REGION_SIZE_1KB   : \
    (bytes) == 2048      ? MPU_REGION_SIZE_2KB   : \
    (bytes) == 4096      ? MPU_REGION_SIZE_4KB   : \
    (bytes) == 8192      ? MPU_REGION_SIZE_8KB   : \
    (bytes) == 16384     ? MPU_REGION_SIZE_16KB  : \
    (bytes) == 32768     ? MPU_REGION_SIZE_32KB  : \
    (bytes) == 65536     ? MPU_REGION_SIZE_64KB  : \
    (bytes) == 131072    ? MPU_REGION_SIZE_128KB : \
    (bytes) == 262144    ? MPU_REGION_SIZE_256KB : \
    (bytes) == 524288    ? MPU_REGION_SIZE_512KB : \
    MPU_REGION_SIZE_1MB)

Convert size in bytes to MPU region size constant.

Note: Only works for power-of-2 sizes from 32 bytes to 4GB

Definition at line 78 of file mpu.h.

◆ MPU_REGION_DTCM

#define MPU_REGION_DTCM MPU_REGION_NUMBER5

Definition at line 69 of file mpu.h.

◆ MPU_REGION_DTCM_OBC

#define MPU_REGION_DTCM_OBC MPU_REGION_NUMBER3

Definition at line 67 of file mpu.h.

◆ MPU_REGION_FLASH

#define MPU_REGION_FLASH MPU_REGION_NUMBER2

Definition at line 66 of file mpu.h.

◆ MPU_REGION_ITCM_BASE

#define MPU_REGION_ITCM_BASE MPU_REGION_NUMBER0

Definition at line 64 of file mpu.h.

◆ MPU_REGION_PERIPH

#define MPU_REGION_PERIPH MPU_REGION_NUMBER7

Definition at line 71 of file mpu.h.

◆ MPU_REGION_QSPI_FLASH

#define MPU_REGION_QSPI_FLASH MPU_REGION_NUMBER1

Definition at line 65 of file mpu.h.

◆ MPU_REGION_RAM_D1

#define MPU_REGION_RAM_D1 MPU_REGION_NUMBER6

Definition at line 70 of file mpu.h.

◆ MPU_REGION_TASK_DATA

#define MPU_REGION_TASK_DATA MPU_REGION_NUMBER4

Definition at line 68 of file mpu.h.

◆ TASK_DATA_SIZE_BYTES

#define TASK_DATA_SIZE_BYTES ((ICARUS_DATA_WORDS) * 4u)

Task data region size for MPU configuration.

Note: Derived from ICARUS_DATA_WORDS in config.h

Definition at line 100 of file mpu.h.

◆ TASK_DATA_SIZE_MPU

#define TASK_DATA_SIZE_MPU MPU_REGION_SIZE_2KB

Definition at line 101 of file mpu.h.

Function Documentation

◆ MPU_Config()

void MPU_Config ( void )

Configure Memory Protection Unit regions.

Sets up 8 MPU regions for memory protection:

Region 0: ITCM (read-only for all, prevents code modification)
Region 1: QSPI Flash (read-only, cacheable)
Region 2: Internal Flash (read-only, cacheable)
Region 3: DISABLED (consolidated with Region 0)
Region 4: Task Data (dynamic, configured per context switch)
Region 5: DTCM (privileged-only, protects kernel data)
Region 6: RAM_D1 (shared buffers, full access)
Region 7: Peripherals (device memory, full access)

Region Configuration:

Region	Base	Size	Access	Purpose
0	0x00000000	64KB	Priv+User RO	ITCM code protection
1	0x90000000	8MB	Priv+User RO	QSPI Flash
2	0x08000000	128KB	Priv+User RO	Internal Flash
3	0x20010000	64KB	Full Access	DTCM OBC hot data
4	Dynamic	2KB	Priv+User RW	Task data isolation
5	0x20000000	128KB	Priv RW	DTCM kernel data
6	0x24000000	512KB	Full Access	RAM_D1 shared buffers
7	0x40000000	512MB	Full Access	Peripherals

Note: Called once during system initialization before tasks start; Enables MPU with privileged default background map; Memory barriers (DSB/ISB) ensure MPU changes take effect

See also: ARMv7-M Architecture Reference Manual, Section B3.5 (MPU); STM32H750 Reference Manual RM0433, Section 2.3.4

Sets up 8 MPU regions for memory protection:

Region 0: ITCM (read-only for all, prevents code modification)
Region 1: QSPI Flash (read-only, cacheable)
Region 2: Internal Flash (read-only, cacheable)
Region 3: DISABLED (consolidated with Region 0)
Region 4: Task Data (dynamic, configured per context switch)
Region 5: DTCM (privileged-only, protects kernel data)
Region 6: RAM_D1 (shared buffers, full access)
Region 7: Peripherals (device memory, full access)

Enables MPU with privileged default background map to block unprivileged access to system control space (NVIC, SCB, etc.)

Note: Called once during system initialization before tasks start; Memory barriers (DSB/ISB) ensure MPU changes take effect

Definition at line 64 of file mpu.c.

References BSP_DTCM_BASE, BSP_DTCM_OBC_BASE, BSP_FLASH_BASE, BSP_ITCM_BASE, BSP_PERIPH_BASE, BSP_RAM_D1_BASE, MPU_REGION_DTCM, MPU_REGION_DTCM_OBC, MPU_REGION_FLASH, MPU_REGION_ITCM_BASE, MPU_REGION_PERIPH, MPU_REGION_QSPI_FLASH, and MPU_REGION_RAM_D1.

Referenced by hal_init().

◆ MPU_ConfigureTaskData()

void MPU_ConfigureTaskData ( uint32_t task_data_base )

Configure MPU Region 4 for current task's data region.

Parameters

task_data_base Base address of task's 2KB data region (must be 2KB-aligned)

Reconfigures MPU Region 4 to grant the current task exclusive access to its data region. This provides task data isolation - each task can only access its own 2KB data region, preventing cross-task corruption.

Note: Called from assembly context switch handler (os_yield_pendsv); Memory barriers (DSB/ISB) ensure MPU changes take effect before task runs; Task data regions are allocated from data_pool in RAM_D2 (0x30000000)

See also: MPU_Config() for initial MPU setup