mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 09:38:32 -04:00
Add ehb instructions back into PIC32 port layer (upon advice).
Add configCLEAR_TICK_TIMER_INTERRUPT into PIC32 port layer to allow the timer configuration to be changed without any edits to the port layer being required. Add prvTaskExitError() into the PIC32 port layer to trap tasks that attempt to exit from their implementing function. Provide the ability to trap interrupt stack overflows in the PIC32 port. Radically improve the timing in the Win32 simulator port layer.
This commit is contained in:
Richard Barry
parent
40d2e74417
commit
30bc6c01a9
5 changed files with 218 additions and 80 deletions
|
|
@ -1,5 +1,5 @@
|
|||
/*
|
||||
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
|
||||
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
|
@ -91,23 +91,67 @@
|
|||
the first task is being restored. */
|
||||
#define portINITIAL_SR ( portIE_BIT | portEXL_BIT )
|
||||
|
||||
/*
|
||||
By default port.c generates its tick interrupt from TIMER1. The user can
|
||||
override this behaviour by:
|
||||
1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(),
|
||||
which is the function that configures the timer. The function is defined
|
||||
as a weak symbol in this file so if the same function name is used in the
|
||||
application code then the version in the application code will be linked
|
||||
into the application in preference to the version defined in this file.
|
||||
2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used
|
||||
to generate the tick interrupt. For example, when timer 1 is used then
|
||||
configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR.
|
||||
configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h.
|
||||
3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the
|
||||
timer used to generate the tick interrupt. For example, when timer 1 is
|
||||
used configCLEAR_TICK_TIMER_INTERRUPT() is defined to
|
||||
IFS0CLR = _IFS0_T1IF_MASK.
|
||||
*/
|
||||
#ifndef configTICK_INTERRUPT_VECTOR
|
||||
#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
|
||||
#define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK
|
||||
#else
|
||||
#ifndef configCLEAR_TICK_TIMER_INTERRUPT
|
||||
#error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code.
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/* Records the interrupt nesting depth. This starts at one as it will be
|
||||
decremented to 0 when the first task starts. */
|
||||
volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;
|
||||
/* Let the user override the pre-loading of the initial RA with the address of
|
||||
prvTaskExitError() in case is messes up unwinding of the stack in the
|
||||
debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */
|
||||
#ifdef configTASK_RETURN_ADDRESS
|
||||
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
|
||||
#else
|
||||
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
||||
#endif
|
||||
|
||||
/* Stores the task stack pointer when a switch is made to use the system stack. */
|
||||
unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;
|
||||
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
|
||||
stack checking. A problem in the ISR stack will trigger an assert, not call the
|
||||
stack overflow hook function (because the stack overflow hook is specific to a
|
||||
task stack, not the ISR stack). */
|
||||
#if( configCHECK_FOR_STACK_OVERFLOW > 2 )
|
||||
|
||||
/* The stack used by interrupt service routines that cause a context switch. */
|
||||
portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
|
||||
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
|
||||
the task stacks, and so will legitimately appear in many positions within
|
||||
the ISR stack. */
|
||||
#define portISR_STACK_FILL_BYTE 0xee
|
||||
|
||||
static const unsigned char ucExpectedStackBytes[] = {
|
||||
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
||||
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
||||
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
||||
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
||||
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \
|
||||
|
||||
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
|
||||
#else
|
||||
/* Define the function away. */
|
||||
#define portCHECK_ISR_STACK()
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* The top of stack value ensures there is enough space to store 6 registers on
|
||||
the callers stack, as some functions seem to want to do this. */
|
||||
const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
|
||||
|
||||
/*
|
||||
* Place the prototype here to ensure the interrupt vector is correctly installed.
|
||||
|
|
@ -125,6 +169,27 @@ extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR
|
|||
*/
|
||||
void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );
|
||||
|
||||
/*
|
||||
* Used to catch tasks that attempt to return from their implementing function.
|
||||
*/
|
||||
static void prvTaskExitError( void );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Records the interrupt nesting depth. This is initialised to one as it is
|
||||
decremented to 0 when the first task starts. */
|
||||
volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;
|
||||
|
||||
/* Stores the task stack pointer when a switch is made to use the system stack. */
|
||||
unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;
|
||||
|
||||
/* The stack used by interrupt service routines that cause a context switch. */
|
||||
portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
|
||||
|
||||
/* The top of stack value ensures there is enough space to store 6 registers on
|
||||
the callers stack, as some functions seem to want to do this. */
|
||||
const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
|
|
@ -144,25 +209,36 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
|
|||
*pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR; /* CP0_STATUS */
|
||||
*pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR;/* CP0_STATUS */
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) pxCode; /* CP0_EPC */
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) NULL; /* ra */
|
||||
*pxTopOfStack = (portSTACK_TYPE) portTASK_RETURN_ADDRESS; /* ra */
|
||||
pxTopOfStack -= 15;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in */
|
||||
pxTopOfStack -= 14;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) 0x00000000; /* critical nesting level - no longer used. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in. */
|
||||
pxTopOfStack -= 15;
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvTaskExitError( void )
|
||||
{
|
||||
/* A function that implements a task must not exit or attempt to return to
|
||||
its caller as there is nothing to return to. If a task wants to exit it
|
||||
should instead call vTaskDelete( NULL ).
|
||||
|
||||
Artificially force an assert() to be triggered if configASSERT() is
|
||||
defined, then stop here so application writers can catch the error. */
|
||||
configASSERT( uxSavedTaskStackPointer == 0UL );
|
||||
portDISABLE_INTERRUPTS();
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Setup a timer for a regular tick. This function uses peripheral timer 1.
|
||||
* The function is declared weak so an application writer can use a different
|
||||
|
|
@ -206,6 +282,13 @@ portBASE_TYPE xPortStartScheduler( void )
|
|||
extern void vPortStartFirstTask( void );
|
||||
extern void *pxCurrentTCB;
|
||||
|
||||
#if ( configCHECK_FOR_STACK_OVERFLOW > 2 )
|
||||
{
|
||||
/* Fill the ISR stack to make it easy to asses how much is being used. */
|
||||
memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
|
||||
}
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
|
||||
|
||||
/* Clear the software interrupt flag. */
|
||||
IFS0CLR = _IFS0_CS0IF_MASK;
|
||||
|
||||
|
|
@ -226,7 +309,12 @@ extern void *pxCurrentTCB;
|
|||
uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;
|
||||
vPortStartFirstTask();
|
||||
|
||||
/* Should never get here as the tasks will now be executing. */
|
||||
/* Should never get here as the tasks will now be executing! Call the task
|
||||
exit error function to prevent compiler warnings about a static function
|
||||
not being called in the case that the application writer overrides this
|
||||
functionality by defining configTASK_RETURN_ADDRESS. */
|
||||
prvTaskExitError();
|
||||
|
||||
return pdFALSE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
|
@ -245,8 +333,11 @@ unsigned portBASE_TYPE uxSavedStatus;
|
|||
}
|
||||
vPortClearInterruptMaskFromISR( uxSavedStatus );
|
||||
|
||||
/* Clear timer 1 interrupt. */
|
||||
IFS0CLR = _IFS0_T1IF_MASK;
|
||||
/* Look for the ISR stack getting near or past its limit. */
|
||||
portCHECK_ISR_STACK();
|
||||
|
||||
/* Clear timer interrupt. */
|
||||
configCLEAR_TICK_TIMER_INTERRUPT();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
|
@ -254,7 +345,7 @@ unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void )
|
|||
{
|
||||
unsigned portBASE_TYPE uxSavedStatusRegister;
|
||||
|
||||
asm volatile ( "di" );
|
||||
__builtin_disable_interrupts();
|
||||
uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;
|
||||
/* This clears the IPL bits, then sets them to
|
||||
configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue