20100923-V6.1.0-RC2/Source/portable/IAR/AtmelSAM7S64/ISR_Support.h

@@ -0,0 +1,78 @@
+	EXTERN pxCurrentTCB
+	EXTERN ulCriticalNesting
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Context save and restore macro definitions
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+
+portSAVE_CONTEXT MACRO
+
+	; Push R0 as we are going to use the register. 					
+	STMDB	SP!, {R0}
+
+	; Set R0 to point to the task stack pointer. 					
+	STMDB	SP, {SP}^
+	NOP
+	SUB		SP, SP, #4
+	LDMIA	SP!, {R0}
+
+	; Push the return address onto the stack. 						
+	STMDB	R0!, {LR}
+
+	; Now we have saved LR we can use it instead of R0. 				
+	MOV		LR, R0
+
+	; Pop R0 so we can save it onto the system mode stack. 			
+	LDMIA	SP!, {R0}
+
+	; Push all the system mode registers onto the task stack. 		
+	STMDB	LR, {R0-LR}^
+	NOP
+	SUB		LR, LR, #60
+
+	; Push the SPSR onto the task stack. 							
+	MRS		R0, SPSR
+	STMDB	LR!, {R0}
+
+	LDR		R0, =ulCriticalNesting 
+	LDR		R0, [R0]
+	STMDB	LR!, {R0}
+
+	; Store the new top of stack for the task. 						
+	LDR		R1, =pxCurrentTCB
+	LDR		R0, [R1]
+	STR		LR, [R0]
+
+	ENDM
+
+
+portRESTORE_CONTEXT MACRO
+
+	; Set the LR to the task stack. 									
+	LDR		R1, =pxCurrentTCB
+	LDR		R0, [R1]
+	LDR		LR, [R0]
+
+	; The critical nesting depth is the first item on the stack. 	
+	; Load it into the ulCriticalNesting variable. 					
+	LDR		R0, =ulCriticalNesting
+	LDMFD	LR!, {R1}
+	STR		R1, [R0]
+
+	; Get the SPSR from the stack. 									
+	LDMFD	LR!, {R0}
+	MSR		SPSR_cxsf, R0
+
+	; Restore all system mode registers for the task. 				
+	LDMFD	LR, {R0-R14}^
+	NOP
+
+	; Restore the return address. 									
+	LDR		LR, [LR, #+60]
+
+	; And return - correcting the offset in the LR to obtain the 	
+	; correct address. 												
+	SUBS	PC, LR, #4
+
+	ENDM
+

20100923-V6.1.0-RC2/Source/portable/IAR/AtmelSAM7S64/port.c

@@ -0,0 +1,281 @@
+/*
+    FreeRTOS V6.1.0 - 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 books - available as PDF or paperback  *
+    *                                                                         *
+    *        "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.
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the Atmel ARM7 port.
+ *----------------------------------------------------------*/
+
+
+/* Standard includes. */
+#include <stdlib.h>
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to setup the initial stack. */
+#define portINITIAL_SPSR				( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
+#define portTHUMB_MODE_BIT				( ( portSTACK_TYPE ) 0x20 )
+#define portINSTRUCTION_SIZE			( ( portSTACK_TYPE ) 4 )
+
+/* Constants required to setup the PIT. */
+#define portPIT_CLOCK_DIVISOR			( ( unsigned long ) 16 )
+#define portPIT_COUNTER_VALUE			( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_RATE_MS )
+
+/* Constants required to handle critical sections. */
+#define portNO_CRITICAL_NESTING 		( ( unsigned long ) 0 )
+
+
+#define portINT_LEVEL_SENSITIVE  0
+#define portPIT_ENABLE      	( ( unsigned short ) 0x1 << 24 )
+#define portPIT_INT_ENABLE     	( ( unsigned short ) 0x1 << 25 )
+/*-----------------------------------------------------------*/
+
+/* Setup the PIT to generate the tick interrupts. */
+static void prvSetupTimerInterrupt( void );
+
+/* ulCriticalNesting will get set to zero when the first task starts.  It
+cannot be initialised to 0 as this will cause interrupts to be enabled
+during the kernel initialisation process. */
+unsigned long ulCriticalNesting = ( unsigned long ) 9999;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the stack of a task to look exactly as if a call to
+ * portSAVE_CONTEXT had been called.
+ *
+ * See header file for description.
+ */
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
+{
+portSTACK_TYPE *pxOriginalTOS;
+
+	pxOriginalTOS = pxTopOfStack;
+
+	/* Setup the initial stack of the task.  The stack is set exactly as
+	expected by the portRESTORE_CONTEXT() macro. */
+
+	/* First on the stack is the return address - which in this case is the
+	start of the task.  The offset is added to make the return address appear
+	as it would within an IRQ ISR. */
+	*pxTopOfStack = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;		
+	pxTopOfStack--;
+
+	*pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa;	/* R14 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
+	pxTopOfStack--;
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x12121212;	/* R12 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;	/* R11 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x10101010;	/* R10 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x09090909;	/* R9 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x08080808;	/* R8 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x07070707;	/* R7 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x06060606;	/* R6 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x05050505;	/* R5 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x04040404;	/* R4 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x03030303;	/* R3 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x02020202;	/* R2 */
+	pxTopOfStack--;	
+	*pxTopOfStack = ( portSTACK_TYPE ) 0x01010101;	/* R1 */
+	pxTopOfStack--;	
+
+	/* When the task starts is will expect to find the function parameter in
+	R0. */
+	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
+	pxTopOfStack--;
+
+	/* The status register is set for system mode, with interrupts enabled. */
+	*pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;
+	
+	if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00UL )
+	{
+		/* We want the task to start in thumb mode. */
+		*pxTopOfStack |= portTHUMB_MODE_BIT;
+	}	
+	
+	pxTopOfStack--;
+
+	/* Interrupt flags cannot always be stored on the stack and will
+	instead be stored in a variable, which is then saved as part of the
+	tasks context. */
+	*pxTopOfStack = portNO_CRITICAL_NESTING;
+
+	return pxTopOfStack;	
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xPortStartScheduler( void )
+{
+extern void vPortStartFirstTask( void );
+
+	/* Start the timer that generates the tick ISR.  Interrupts are disabled
+	here already. */
+	prvSetupTimerInterrupt();
+
+	/* Start the first task. */
+	vPortStartFirstTask();	
+
+	/* Should not get here! */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* It is unlikely that the ARM port will require this function as there
+	is nothing to return to.  */
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_PREEMPTION == 0
+
+	/* The cooperative scheduler requires a normal IRQ service routine to
+	simply increment the system tick. */
+	static __arm __irq void vPortNonPreemptiveTick( void );
+	static __arm __irq void vPortNonPreemptiveTick( void )
+	{
+		unsigned long ulDummy;
+		
+		/* Increment the tick count - which may wake some tasks but as the
+		preemptive scheduler is not being used any woken task is not given
+		processor time no matter what its priority. */
+		vTaskIncrementTick();
+		
+		/* Clear the PIT interrupt. */
+		ulDummy = AT91C_BASE_PITC->PITC_PIVR;
+		
+		/* End the interrupt in the AIC. */
+		AT91C_BASE_AIC->AIC_EOICR = ulDummy;
+	}
+
+#else
+
+	/* Currently the IAR port requires the preemptive tick function to be
+	defined in an asm file. */
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+static void prvSetupTimerInterrupt( void )
+{
+AT91PS_PITC pxPIT = AT91C_BASE_PITC;
+
+	/* Setup the AIC for PIT interrupts.  The interrupt routine chosen depends
+	on whether the preemptive or cooperative scheduler is being used. */
+	#if configUSE_PREEMPTION == 0
+
+		AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortNonPreemptiveTick );
+
+	#else
+		
+		extern void ( vPortPreemptiveTick )( void );
+		AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortPreemptiveTick );
+
+	#endif
+
+	/* Configure the PIT period. */
+	pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE;
+
+	/* Enable the interrupt.  Global interrupts are disables at this point so
+	this is safe. */
+	AT91F_AIC_EnableIt( AT91C_BASE_AIC, AT91C_ID_SYS );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+	/* Disable interrupts first! */
+	__disable_interrupt();
+
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
+	directly.  Increment ulCriticalNesting to keep a count of how many times
+	portENTER_CRITICAL() has been called. */
+	ulCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
+	{
+		/* Decrement the nesting count as we are leaving a critical section. */
+		ulCriticalNesting--;
+
+		/* If the nesting level has reached zero then interrupts should be
+		re-enabled. */
+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
+		{
+			__enable_interrupt();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+
+
+
+
+

20100923-V6.1.0-RC2/Source/portable/IAR/AtmelSAM7S64/portasm.s79

@@ -0,0 +1,59 @@
+		RSEG ICODE:CODE
+		CODE32
+
+	EXTERN vTaskSwitchContext
+	EXTERN vTaskIncrementTick
+
+	PUBLIC vPortYieldProcessor
+	PUBLIC vPortPreemptiveTick
+	PUBLIC vPortStartFirstTask
+
+#include "AT91SAM7S64_inc.h"
+#include "ISR_Support.h"
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Starting the first task is just a matter of restoring the context that
+; was created by pxPortInitialiseStack().
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+vPortStartFirstTask:
+	portRESTORE_CONTEXT
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Manual context switch function.  This is the SWI hander.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+vPortYieldProcessor:
+	ADD		LR, LR, #4			; Add 4 to the LR to make the LR appear exactly 
+								; as if the context was saved during and IRQ 
+								; handler.
+								
+	portSAVE_CONTEXT			; Save the context of the current task...
+	LDR R0, =vTaskSwitchContext	; before selecting the next task to execute.
+	mov     lr, pc
+	BX R0
+	portRESTORE_CONTEXT			; Restore the context of the selected task.
+
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+; Preemptive context switch function.  This will only ever get installed if
+; portUSE_PREEMPTION is set to 1 in portmacro.h.
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+vPortPreemptiveTick:
+	portSAVE_CONTEXT			; Save the context of the current task.
+
+	LDR R0, =vTaskIncrementTick ; Increment the tick count - this may wake a task.
+	mov lr, pc
+	BX R0
+	LDR R0, =vTaskSwitchContext ; Select the next task to execute.
+	mov lr, pc
+	BX R0
+
+	LDR	R14, =AT91C_BASE_PITC	; Clear the PIT interrupt
+	LDR	R0, [R14, #PITC_PIVR ]
+
+	LDR R14, =AT91C_BASE_AIC	; Mark the End of Interrupt on the AIC
+    STR	R14, [R14, #AIC_EOICR]
+
+	portRESTORE_CONTEXT			; Restore the context of the selected task.
+
+
+	END
+

20100923-V6.1.0-RC2/Source/portable/IAR/AtmelSAM7S64/portmacro.h

@@ -0,0 +1,133 @@
+/*
+    FreeRTOS V6.1.0 - 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 books - available as PDF or paperback  *
+    *                                                                         *
+    *        "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
+
+/*-----------------------------------------------------------
+ * 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
+/*-----------------------------------------------------------*/	
+
+/* Hardware specifics. */
+#define portSTACK_GROWTH			( -1 )
+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portBYTE_ALIGNMENT			8
+#define portYIELD()					asm ( "SWI 0" )
+#define portNOP()					asm ( "NOP" )
+/*-----------------------------------------------------------*/	
+
+/* Critical section handling. */
+__arm __interwork void vPortDisableInterruptsFromThumb( void );
+__arm __interwork void vPortEnableInterruptsFromThumb( void );
+__arm __interwork void vPortEnterCritical( void );
+__arm __interwork void vPortExitCritical( void );
+
+#define portDISABLE_INTERRUPTS()	__disable_interrupt()
+#define portENABLE_INTERRUPTS()		__enable_interrupt()
+#define portENTER_CRITICAL()		vPortEnterCritical()
+#define portEXIT_CRITICAL()			vPortExitCritical()
+/*-----------------------------------------------------------*/	
+
+/* Task utilities. */
+#define portEND_SWITCHING_ISR( xSwitchRequired ) 	\
+{													\
+extern void vTaskSwitchContext( void );				\
+													\
+	if( xSwitchRequired ) 							\
+	{												\
+		vTaskSwitchContext();						\
+	}												\
+}
+/*-----------------------------------------------------------*/	
+
+
+/* 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 */
+
+