mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-01 08:54:14 -04:00
Demo application related:
+ Update the RZ IAR project so it targets the RZ RSK rather than custom hardware. + Update the RZ ARM/DS-5 project so it targets the RZ RSK rather than custom hardware. + Updated RX64M demos to use the new iodefine.h naming. Cortex-A9 port related: + Update IAR, ARM and GCC Cortex-A9 port layers to include a 'task exit error' function which is called if a task attempts to incorrectly exit its implementing function. + Moved the instruction which switches into system mode out of the restore context macro, as it is only needed when starting the first task. Core kernel files related: + Ensure there are no references to the mutexes held count when mutexes are excluded from the build.
This commit is contained in:
Richard Barry
parent
162448f06b
commit
52e687086c
37 changed files with 264 additions and 125 deletions
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@ -176,6 +176,15 @@ the CPU itself before modifying certain hardware registers. */
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#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
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#define portBIT_0_SET ( ( uint8_t ) 0x01 )
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/* Let the user override the pre-loading of the initial LR with the address of
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prvTaskExitError() in case is messes up unwinding of the stack in the
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debugger. */
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#ifdef configTASK_RETURN_ADDRESS
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#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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#else
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#define portTASK_RETURN_ADDRESS prvTaskExitError
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#endif
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/*-----------------------------------------------------------*/
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/*
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@ -184,6 +193,11 @@ the CPU itself before modifying certain hardware registers. */
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*/
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extern void vPortRestoreTaskContext( void );
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* A variable is used to keep track of the critical section nesting. This
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@ -243,7 +257,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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pxTopOfStack--;
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/* Next all the registers other than the stack pointer. */
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*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
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*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
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pxTopOfStack--;
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@ -286,6 +300,20 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( ulPortInterruptNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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uint32_t ulAPSR;
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@ -380,7 +408,7 @@ void vPortEnterCritical( void )
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ulCriticalNesting++;
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/* This is not the interrupt safe version of the enter critical function so
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assert() if it is being called from an interrupt context. Only API
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assert() if it is being called from an interrupt context. Only API
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functions that end in "FromISR" can be used in an interrupt. Only assert if
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the critical nesting count is 1 to protect against recursive calls if the
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assert function also uses a critical section. */
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@ -120,9 +120,6 @@
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.macro portRESTORE_CONTEXT
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/* Switch to system mode. */
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CPS #SYS_MODE
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/* Set the SP to point to the stack of the task being restored. */
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LDR R0, pxCurrentTCBConst
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LDR R1, [R0]
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@ -168,7 +165,7 @@
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/******************************************************************************
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* SVC handler is used to start the scheduler and yield a task.
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* SVC handler is used to start the scheduler.
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*****************************************************************************/
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.align 4
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.type FreeRTOS_SWI_Handler, %function
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@ -177,9 +174,16 @@ FreeRTOS_SWI_Handler:
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portSAVE_CONTEXT
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LDR R0, vTaskSwitchContextConst
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BLX R0
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portRESTORE_CONTEXT
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/******************************************************************************
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* vPortRestoreTaskContext is used to start the scheduler.
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*****************************************************************************/
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.type vPortRestoreTaskContext, %function
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vPortRestoreTaskContext:
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/* Switch to system mode. */
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CPS #SYS_MODE
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portRESTORE_CONTEXT
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.align 4
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@ -74,6 +74,9 @@
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/* Library includes. */
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#include "string.h"
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/* Hardware specifics. */
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#include "iodefine.h"
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/*-----------------------------------------------------------*/
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/* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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@ -166,6 +166,11 @@ mode. */
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*/
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extern void vPortRestoreTaskContext( void );
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* A variable is used to keep track of the critical section nesting. This
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@ -175,8 +180,8 @@ the scheduler starts. As it is stored as part of the task context it will
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automatically be set to 0 when the first task is started. */
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volatile uint32_t ulCriticalNesting = 9999UL;
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/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero then
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a floating point context must be saved and restored for the task. */
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/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero
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then a floating point context must be saved and restored for the task. */
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uint32_t ulPortTaskHasFPUContext = pdFALSE;
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/* Set to 1 to pend a context switch from an ISR. */
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@ -221,7 +226,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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pxTopOfStack--;
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/* Next all the registers other than the stack pointer. */
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*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
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*pxTopOfStack = ( StackType_t ) prvTaskExitError; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
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pxTopOfStack--;
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@ -264,6 +269,20 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( ulPortInterruptNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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uint32_t ulAPSR;
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@ -97,9 +97,6 @@ portSAVE_CONTEXT macro
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portRESTORE_CONTEXT macro
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; Switch to system mode
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CPS #SYS_MODE
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; Set the SP to point to the stack of the task being restored.
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LDR R0, =pxCurrentTCB
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LDR R1, [R0]
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@ -75,7 +75,7 @@ IRQ_MODE EQU 0x12
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INCLUDE portASM.h
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; SVC handler is used to start the scheduler and yield a task.
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; SVC handler is used to yield a task.
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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FreeRTOS_SWI_Handler
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@ -85,10 +85,15 @@ FreeRTOS_SWI_Handler
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portSAVE_CONTEXT
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LDR R0, =vTaskSwitchContext
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BLX R0
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vPortRestoreTaskContext
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portRESTORE_CONTEXT
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; vPortRestoreTaskContext is used to start the scheduler.
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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vPortRestoreTaskContext
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; Switch to system mode
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CPS #SYS_MODE
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portRESTORE_CONTEXT
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; PL390 GIC interrupt handler
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@ -167,7 +172,7 @@ exit_without_switch
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MOVS PC, LR
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switch_before_exit
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; A context swtich is to be performed. Clear the context switch pending
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; A context switch is to be performed. Clear the context switch pending
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; flag.
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MOV r0, #0
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STR r0, [r1]
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@ -198,6 +198,11 @@ mode. */
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*/
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extern void vPortRestoreTaskContext( void );
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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/*-----------------------------------------------------------*/
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/* A variable is used to keep track of the critical section nesting. This
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@ -260,7 +265,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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pxTopOfStack--;
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/* Next all the registers other than the stack pointer. */
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*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
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*pxTopOfStack = ( StackType_t ) prvTaskExitError; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
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pxTopOfStack--;
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@ -303,6 +308,20 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
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}
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/*-----------------------------------------------------------*/
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static void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( ulPortInterruptNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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uint32_t ulAPSR;
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@ -354,6 +373,16 @@ void vPortEnterCritical( void )
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directly. Increment ulCriticalNesting to keep a count of how many times
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portENTER_CRITICAL() has been called. */
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ulCriticalNesting++;
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/* This is not the interrupt safe version of the enter critical function so
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assert() if it is being called from an interrupt context. Only API
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functions that end in "FromISR" can be used in an interrupt. Only assert if
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the critical nesting count is 1 to protect against recursive calls if the
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assert function also uses a critical section. */
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if( ulCriticalNesting == 1 )
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{
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configASSERT( ulPortInterruptNesting == 0 );
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}
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}
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/*-----------------------------------------------------------*/
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@ -71,7 +71,7 @@
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; SVC handler is used to start the scheduler and yield a task.
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; SVC handler is used to yield a task.
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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FreeRTOS_SWI_Handler
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@ -81,10 +81,15 @@ FreeRTOS_SWI_Handler
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portSAVE_CONTEXT
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LDR R0, =vTaskSwitchContext
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BLX R0
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vPortRestoreTaskContext
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portRESTORE_CONTEXT
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; vPortRestoreTaskContext is used to start the scheduler.
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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vPortRestoreTaskContext
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; Switch to system mode
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CPS #SYS_MODE
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portRESTORE_CONTEXT
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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; PL390 GIC interrupt handler
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@ -132,7 +137,7 @@ FreeRTOS_IRQ_Handler
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ADD sp, sp, r2
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CPSID i
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; Write the value read from ICCIAR to ICCEOIR
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LDR r4, =ulICCEOIR
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STR r0, [r4]
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@ -104,9 +104,6 @@ IRQ_MODE EQU 0x12
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MACRO
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portRESTORE_CONTEXT
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; Switch to system mode
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CPS #SYS_MODE
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; Set the SP to point to the stack of the task being restored.
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LDR R0, =pxCurrentTCB
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LDR R1, [R0]
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@ -74,6 +74,9 @@
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/* Library includes. */
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#include "string.h"
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/* Hardware specifics. */
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#include "iodefine.h"
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/*-----------------------------------------------------------*/
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/* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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