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The start of an APS3 port.

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Richard Barry 2010-03-19 14:22:34 +00:00
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commit 0d8229a087
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224
Source/portable/GCC/CORTUS_APS3/port.c Normal file
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/*
FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
***************************************************************************
* *
* If you are: *
* *
* + New to FreeRTOS, *
* + Wanting to learn FreeRTOS or multitasking in general quickly *
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
* then take a look at the FreeRTOS eBook *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
* *
* A pdf reference manual is also available. Both are usually delivered *
* to your inbox within 20 minutes to two hours when purchased between 8am *
* and 8pm GMT (although please allow up to 24 hours in case of *
* exceptional circumstances). Thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
***NOTE*** The exception to the GPL is included to allow you to distribute
a combined work that includes FreeRTOS without being obliged to provide the
source code for proprietary components outside of the FreeRTOS kernel.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
/* Standard includes. */
#include <stdlib.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Machine includes */
#include <machine/counter.h>
#include <machine/ic.h>
/*-----------------------------------------------------------*/
/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
#define portINITIAL_PSR ( 0x00020000 )
/*-----------------------------------------------------------*/
/*
* Perform any hardware configuration necessary to generate the tick interrupt.
*/
static void prvSetupTickInterrupt( void );
/*-----------------------------------------------------------*/
/* Variables used to hold interrupt and critical nesting depths, with variables
that provide a convenient method of obtaining their addresses. */
volatile unsigned portBASE_TYPE uxInterruptNestingCount = 999UL;
const volatile unsigned portBASE_TYPE *puxInterruptNestingCount = &uxInterruptNestingCount;
volatile unsigned portBASE_TYPE uxInterruptStack[ configMINIMAL_STACK_SIZE ];
const volatile unsigned portBASE_TYPE *puxTopOfInterruptStack = &( uxInterruptStack[ configMINIMAL_STACK_SIZE - 1 ] );
/*-----------------------------------------------------------*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
/* For the time being, mimic the stack when using the
__attribute__((interrupt)) plus the extra caller saved registers. */
pxTopOfStack -= 17;
/* RTT */
pxTopOfStack[ 16 ] = ( portSTACK_TYPE )pxCode;
/* PSR */
pxTopOfStack[ 15 ] = portINITIAL_PSR;
/* R14 and R15 aka FuncSP and LR, respectively */
pxTopOfStack[ 14 ] = 0x00000000;
pxTopOfStack[ 13 ] = ( portSTACK_TYPE )( pxTopOfStack + 17 );
/* R7 to R2 */
pxTopOfStack[ 12 ] = 0x07070707;
pxTopOfStack[ 11 ] = 0x06060606;
pxTopOfStack[ 10 ] = 0x05050505;
pxTopOfStack[ 9 ] = 0x04040404;
pxTopOfStack[ 8 ] = 0x03030303;
pxTopOfStack[ 7 ] = ( portSTACK_TYPE )pvParameters;
/* Set the Interrupt Priority on Task entry. */
pxTopOfStack[ 6 ] = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
/* R13 to R8. */
pxTopOfStack[ 5 ] = 0x0D0D0D0D;
pxTopOfStack[ 4 ] = 0x0C0C0C0C;
pxTopOfStack[ 3 ] = 0x0B0B0B0B;
pxTopOfStack[ 2 ] = 0x0A0A0A0A;
pxTopOfStack[ 1 ] = 0x09090909;
pxTopOfStack[ 0 ] = 0x08080808;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
portBASE_TYPE xPortStartScheduler( void )
{
/* Set-up the Tick Interrupt. */
prvSetupTickInterrupt();
/* Enable the TRAP yield. */
irq[ portIRQ_TRAP_YIELD ].ien = 1;
irq[ portIRQ_TRAP_YIELD ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
/* Integrated Interrupt Controller: Enable all interrupts. */
ic->ien = 1;
uxInterruptNestingCount = 1UL;
/* Restore calleree saved registers. */
portRESTORE_CONTEXT_REDUCED();
/* Mimic an ISR epiplogue to start the task executing. */
asm __volatile__( \
"mov r1, r14 \n" \
"ldd r6, [r1]+0x20 \n" \
"mov psr, r6 \n" \
"mov rtt, r7 \n" \
"ldd r14, [r1]+0x18 \n" \
"ldq r4, [r1]+0x8 \n" \
"ldd r2, [r1] \n" \
"add r1, #0x28 \n" \
"rti \n" \
); \
/* Should not get here. */
return 0;
}
/*-----------------------------------------------------------*/
static void prvSetupTickInterrupt( void )
{
/* Enable timer interrupts */
counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
counter1->value = counter1->reload;
counter1->mask = 1;
/* Set the IRQ Handler priority and enable it. */
irq[ IRQ_COUNTER1 ].ien = 1;
irq[ IRQ_COUNTER1 ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
}
/*-----------------------------------------------------------*/
void interrupt_handler( portIRQ_TRAP_YIELD )
{
/* Save remaining registers. */
portSAVE_CONTEXT_REDUCED();
/* Perform the actual Yield. */
portYIELD_FROM_ISR();
/* Restore the first lot of registers, the remains will be resotred when
this function exits. */
portRESTORE_CONTEXT_REDUCED();
}
/*-----------------------------------------------------------*/
/* Timer tick interrupt handler */
void interrupt_handler( IRQ_COUNTER1 )
{
portSAVE_CONTEXT_REDUCED();
asm __volatile__(
" sub r1, #4 \n" /* Make space on the stack. r1 is stack pointer. */
" movhi r2, #16384 \n" /* Load the pointer to the IC. */
" ldub r3, [r2]+2 \n" /* Copy the Current Priority Level. */
" st r3, [r1] \n" /* Store it on the stack. */
" mov r3, #%0 \n" /* Load the highest priority level. */
" stb r3, [r2]+2 \n" /* Set the CPL to the highest level. */
" call vTaskIncrementTick \n" /* Increment the tick. */
" ld r3, [r1] \n" /* Load the previous CPL from the stack. */
" movhi r2, #16384 \n" /* Load the pointer to the IC. */
" stb r3, [r2]+2 \n" /* Set the CPL to the previous CPL. */
" add r1, #4 "
:
:"i"(PORT_SYSTEM_INTERRUPT_PRIORITY_LEVEL+1)
:"r2","r3" /* Fix the stack. */
);
#if configUSE_PREEMPTION == 1
portYIELD_FROM_ISR();
#endif
{
/* Clear the Tick Interrupt. */
counter1->expired = 0;
}
portRESTORE_CONTEXT_REDUCED();
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* Nothing to do. Unlikely to want to end. */
}
/*-----------------------------------------------------------*/

246
Source/portable/GCC/CORTUS_APS3/portmacro.h Normal file
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@ -0,0 +1,246 @@
/*
FreeRTOS V6.0.4 - Copyright (C) 2010 Real Time Engineers Ltd.
***************************************************************************
* *
* If you are: *
* *
* + New to FreeRTOS, *
* + Wanting to learn FreeRTOS or multitasking in general quickly *
* + Looking for basic training, *
* + Wanting to improve your FreeRTOS skills and productivity *
* *
* then take a look at the FreeRTOS eBook *
* *
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
* http://www.FreeRTOS.org/Documentation *
* *
* A pdf reference manual is also available. Both are usually delivered *
* to your inbox within 20 minutes to two hours when purchased between 8am *
* and 8pm GMT (although please allow up to 24 hours in case of *
* exceptional circumstances). Thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
***NOTE*** The exception to the GPL is included to allow you to distribute
a combined work that includes FreeRTOS without being obliged to provide the
source code for proprietary components outside of the FreeRTOS kernel.
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
http://www.FreeRTOS.org - Documentation, latest information, license and
contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services.
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
#include <machine/ic.h>
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE unsigned portLONG
#define portBASE_TYPE portLONG
#if( configUSE_16_BIT_TICKS == 1 )
typedef unsigned portSHORT portTickType;
#define portMAX_DELAY ( portTickType ) 0xffff
#else
typedef unsigned portLONG portTickType;
#define portMAX_DELAY ( portTickType ) 0xffffffff
#endif
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 4
#define portNOP() __asm__ volatile ( "mov r0,r0; nop" )
#define portCRITICAL_NESTING_IN_TCB 1
#define portIRQ_TRAP_YIELD 31
#define portKERNEL_INTERRUPT_PRIORITY_LEVEL 0
#define portSYSTEM_INTERRUPT_PRIORITY_LEVEL 1
/*-----------------------------------------------------------*/
/* Task utilities. */
extern void vPortYield( void );
/**
* Interrupt Handlers that access RTOS API functions use a separate interrupt stack
* and so the nesting depth needs to be recorded to know when to switch from the
* interrupt stack back to the Task stack.
*/
extern volatile unsigned portBASE_TYPE uxInterruptNestingCount;
/*---------------------------------------------------------------------------*/
#define portYIELD() asm __volatile__( " trap #%0 "::"i"(portIRQ_TRAP_YIELD):"memory")
/*---------------------------------------------------------------------------*/
#define portYIELD_FROM_ISR() \
{ \
asm __volatile__( \
" sub r1, #4 \n" /* Make space on the stack. */ \
" movhi r2, #16384 \n" /* Load the pointer to the IC. */ \
" ldub r3, [r2]+2 \n" /* Copy the Current Priority Level. */ \
" st r3, [r1] \n" /* Store it on the stack. */ \
" mov r3, #%0 \n" /* Load the highest priority level. */ \
" stb r3, [r2]+2 \n" /* Set the CPL to the highest level. */ \
" call vTaskSwitchContext \n" /* Select a new pxCurrentTCB. */ \
" ld r3, [r1] \n" /* Load the previous CPL from the stack. */ \
" movhi r2, #16384 \n" /* Load the pointer to the IC. */ \
" stb r3, [r2]+2 \n" /* Set the CPL to the previous CPL. */ \
" add r1, #4 " /* Fix the stack. */ \
: \
:"i"(portSYSTEM_INTERRUPT_PRIORITY_LEVEL+1) \
:"r2","r3"); \
}
/*---------------------------------------------------------------------------*/
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical()
/*---------------------------------------------------------------------------*/
/* Critical section management. */
#define portDISABLE_INTERRUPTS() \
{ /*ic->cpl = ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 );*/ \
asm __volatile__( \
" movhi r2, #16384 \n" \
" mov r3, #%0 \n" \
" stb r3, [r2]+2" \
: \
:"i"(portSYSTEM_INTERRUPT_PRIORITY_LEVEL+1) \
:"r2", "r3" ); \
}
/*---------------------------------------------------------------------------*/
#define portENABLE_INTERRUPTS() \
{ /*ic->cpl = portKERNEL_INTERRUPT_PRIORITY_LEVEL;*/ \
asm __volatile__( \
" movhi r2, #16384 \n" \
" mov r3, #%0 \n" \
" stb r3, [r2]+2" \
: \
:"i"(portKERNEL_INTERRUPT_PRIORITY_LEVEL) \
:"r2", "r3" ); \
}
/*---------------------------------------------------------------------------*/
#define portSAVE_CONTEXT_REDUCED() \
{ \
asm __volatile__( \
/* "sub r1, #0x28" */ \
/* "stq r4, [r1]+0x8" */ \
/* "mov r6, psr" */ \
/* "mov r7, rtt" */ \
/* "std r6, [r1]+0x20" */ \
/* "std r14, [r1]+0x18" */ \
/* "std r2, [r1]" */ \
/* "mov r14, r1" */ \
"sub r1, #0x1c \n" /* Make space on the stack. */ \
"stq r8, [r1] \n" /* Store the remaining context registers. */ \
"std r12, [r1]+0x10 \n" \
"movhi r2, #16384 \n" /* Set the pointer to the IC. */ \
"ldub r3, [r2]+2 \n" /* Load the current priority level. */ \
"st r3, [r1]+0x18 \n" /* Store the current priority level on the stack. */ \
"ldub r3, [r2]+3 \n" /* Load the interrupt priority level. */ \
"add r3, #1 \n" /* Increase the priority by one. */ \
"stb r3, [r2]+2 \n" /* Set the current priority level to be above this one. */ \
"ld r4, [r0]+short(puxInterruptNestingCount) \n" /*[r0]+short(puxInterruptNestingCount) */ \
"ld r5, [r4] \n" \
"add r5, #1 \n" /* Increment the interrupt nesting count. */ \
"st r5, [r4] \n" \
"cmp r5, #1 \n" /* Is this the first interrupt? */ \
"bne.s 12 \n" /* If it is then save the stack pointer to the current TCB? */ \
"ld r2, [r0]+short(pxCurrentTCB) \n" /* Load the pointer to the TCB. */ \
"st r1, [r2] \n" /* Save the stack pointer into the TCB. */ \
"ld r1, [r0]+short(puxTopOfInterruptStack) \n" /* Switch to the dedicated interrupt stack. */ /* [r0]+short(uxInterruptStack) */ \
"mov r14, r1 \n" /* Compiler expects r14 to be set to the function stack. */ \
"movhi r2, #3 \n" /* Re-enable interrupts (re-enable breakpoints). */ \
"mov psr, r2 \n" \
:::"r2","r3","r4","r5","r15" ); /* Clobber list includes all of the caller saved registers so that they are saved as part of the Interrupt handler pre-amble. */ \
}
/*---------------------------------------------------------------------------*/
#define portRESTORE_CONTEXT_REDUCED() \
{ \
asm __volatile__( \
"movhi r2, #2 \n" /* Disable interrupts (disable breakpoints). */ \
"mov psr, r2 \n" \
"ld r2, [r0]+short(puxInterruptNestingCount) \n" \
"ld r3, [r2] \n" \
"sub r3, #1 \n" /* Decrement the interrupt nesting count. */ \
"st r3, [r2] \n" \
"cmp r3, r0 \n" /* Is this the first interrupt? */ \
"bne.s 8 \n" /* Are we at the end of unrolling the interrupt nesting? */ \
"ld r2, [r0]+short(pxCurrentTCB) \n" /* Load the TCB to find the stack pointer and context. */ \
"ld r1, [r2] \n" \
"movhi r2, #16384 \n" /* Set the pointer to the IC. */ \
"ld r3, [r1]+0x18 \n" /* Load the previous current priority level. */ \
"stb r3, [r2]+2 \n" /* Set the current priority level to be the previous. */ \
"ldd r12, [r1]+0x10 \n" /* Restore the callee saved registers. Caller saved registers are restored by the function exit. */ \
"ldq r8, [r1] \n" \
"add r1, #0x1c \n" \
"mov r14, r1 \n" \
/* "mov r1, r14" */ \
/* "ldd r6, [r1]+0x20" */ \
/* "mov psr, r6" */ \
/* "mov rtt, r7" */ \
/* "ldd r14, [r1]+0x18" */ \
/* "ldq r4, [r1]+0x8" */ \
/* "ldd r2, [r1]" */ \
/* "add r1, #0x28" */ \
/* "rti" */ \
); \
}
/*---------------------------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
/*---------------------------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */