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261
portable/GCC/AVR32_UC3/port.c
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@ -27,6 +27,7 @@
*/
/*This file has been prepared for Doxygen automatic documentation generation.*/
/*! \file *********************************************************************
*
* \brief FreeRTOS port source for AVR32 UC3.
@ -81,20 +82,20 @@
/* AVR32 UC3 includes. */
#include <avr32/io.h>
#include "gpio.h"
#if( configTICK_USE_TC==1 )
#if ( configTICK_USE_TC == 1 )
#include "tc.h"
#endif
/* Constants required to setup the task context. */
#define portINITIAL_SR ( ( StackType_t ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */
#define portINSTRUCTION_SIZE ( ( StackType_t ) 0 )
#define portINITIAL_SR ( ( StackType_t ) 0x00400000 ) /* AVR32 : [M2:M0]=001 I1M=0 I0M=0, GM=0 */
#define portINSTRUCTION_SIZE ( ( StackType_t ) 0 )
/* Each task maintains its own critical nesting variable. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL;
#if( configTICK_USE_TC==0 )
#if ( configTICK_USE_TC == 0 )
static void prvScheduleNextTick( void );
#else
static void prvClearTcInt( void );
@ -113,7 +114,7 @@ static void prvSetupTimerInterrupt( void );
* vectors are not compatible with the SCALL management in the current FreeRTOS
* port. More low-level initializations are besides added here.
*/
void _init_startup(void)
void _init_startup( void )
{
/* Import the Exception Vector Base Address. */
extern void _evba;
@ -121,7 +122,7 @@ void _init_startup(void)
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
BaseType_t *pxMem;
BaseType_t * pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
@ -134,13 +135,11 @@ void _init_startup(void)
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( BaseType_t * )&__heap_end__; )
for( pxMem = &__heap_start__; pxMem < ( BaseType_t * ) &__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Give the used CPU clock frequency to Newlib, so it can work properly. */
@ -158,10 +157,10 @@ void _init_startup(void)
/* Initialize the USART used for the debug trace with the configured parameters. */
set_usart_base( ( void * ) configDBG_USART );
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[ 0 ] ) );
usart_init( configDBG_USART_BAUDRATE );
}
#endif
#endif /* if configDBG */
}
/*-----------------------------------------------------------*/
@ -184,7 +183,7 @@ void _init_startup(void)
* safe section as memory allocation management uses global data.
* See the aforementioned details.
*/
void __malloc_lock(struct _reent *ptr)
void __malloc_lock( struct _reent * ptr )
{
vTaskSuspendAll();
}
@ -194,16 +193,17 @@ void __malloc_lock(struct _reent *ptr)
* a safe section as memory allocation management uses global data.
* See the aforementioned details.
*/
void __malloc_unlock(struct _reent *ptr)
void __malloc_unlock( struct _reent * ptr )
{
xTaskResumeAll();
}
/*-----------------------------------------------------------*/
/* Added as there is no such function in FreeRTOS. */
void *pvPortRealloc( void *pv, size_t xWantedSize )
void * pvPortRealloc( void * pv,
size_t xWantedSize )
{
void *pvReturn;
void * pvReturn;
vTaskSuspendAll();
{
@ -216,27 +216,29 @@ void *pvReturn;
/*-----------------------------------------------------------*/
/* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */
* simply increment the system tick. */
/* The preemptive scheduler is defined as "naked" as the full context is saved
on entry as part of the context switch. */
__attribute__((__naked__)) static void vTick( void )
* on entry as part of the context switch. */
__attribute__( ( __naked__ ) ) static void vTick( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT_OS_INT();
#if( configTICK_USE_TC==1 )
#if ( configTICK_USE_TC == 1 )
/* Clear the interrupt flag. */
prvClearTcInt();
#else
/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
clock cycles from now. */
* clock cycles from now. */
prvScheduleNextTick();
#endif
/* Because FreeRTOS is not supposed to run with nested interrupts, put all OS
calls in a critical section . */
* calls in a critical section . */
portENTER_CRITICAL();
xTaskIncrementTick();
xTaskIncrementTick();
portEXIT_CRITICAL();
/* Restore the context of the "elected task". */
@ -244,7 +246,7 @@ __attribute__((__naked__)) static void vTick( void )
}
/*-----------------------------------------------------------*/
__attribute__((__naked__)) void SCALLYield( void )
__attribute__( ( __naked__ ) ) void SCALLYield( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT_SCALL();
@ -254,26 +256,27 @@ __attribute__((__naked__)) void SCALLYield( void )
/*-----------------------------------------------------------*/
/* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels. The interrupt flags can therefore not always
be saved to the stack. Instead the critical section nesting level is stored
in a variable, which is then saved as part of the stack context. */
__attribute__((__noinline__)) void vPortEnterCritical( void )
* different optimisation levels. The interrupt flags can therefore not always
* be saved to the stack. Instead the critical section nesting level is stored
* in a variable, which is then saved as part of the stack context. */
__attribute__( ( __noinline__ ) ) void vPortEnterCritical( void )
{
/* Disable interrupts */
portDISABLE_INTERRUPTS();
/* Now interrupts are disabled ulCriticalNesting can be accessed
directly. Increment ulCriticalNesting to keep a count of how many times
portENTER_CRITICAL() has been called. */
/* Now that interrupts are disabled, ulCriticalNesting can be accessed
* directly. Increment ulCriticalNesting to keep a count of how many times
* portENTER_CRITICAL() has been called. */
ulCriticalNesting++;
}
/*-----------------------------------------------------------*/
__attribute__((__noinline__)) void vPortExitCritical( void )
__attribute__( ( __noinline__ ) ) void vPortExitCritical( void )
{
if(ulCriticalNesting > portNO_CRITICAL_NESTING)
if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{
ulCriticalNesting--;
if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{
/* Enable all interrupt/exception. */
@ -289,30 +292,32 @@ __attribute__((__noinline__)) void vPortExitCritical( void )
*
* See header file for description.
*/
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
{
/* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. */
* expected by the portRESTORE_CONTEXT() macro. */
/* When the task starts, it will expect to find the function parameter in R12. */
pxTopOfStack--;
*pxTopOfStack-- = ( StackType_t ) 0x08080808; /* R8 */
*pxTopOfStack-- = ( StackType_t ) 0x09090909; /* R9 */
*pxTopOfStack-- = ( StackType_t ) 0x0A0A0A0A; /* R10 */
*pxTopOfStack-- = ( StackType_t ) 0x0B0B0B0B; /* R11 */
*pxTopOfStack-- = ( StackType_t ) pvParameters; /* R12 */
*pxTopOfStack-- = ( StackType_t ) 0xDEADBEEF; /* R14/LR */
*pxTopOfStack-- = ( StackType_t ) 0x08080808; /* R8 */
*pxTopOfStack-- = ( StackType_t ) 0x09090909; /* R9 */
*pxTopOfStack-- = ( StackType_t ) 0x0A0A0A0A; /* R10 */
*pxTopOfStack-- = ( StackType_t ) 0x0B0B0B0B; /* R11 */
*pxTopOfStack-- = ( StackType_t ) pvParameters; /* R12 */
*pxTopOfStack-- = ( StackType_t ) 0xDEADBEEF; /* R14/LR */
*pxTopOfStack-- = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; /* R15/PC */
*pxTopOfStack-- = ( StackType_t ) portINITIAL_SR; /* SR */
*pxTopOfStack-- = ( StackType_t ) 0xFF0000FF; /* R0 */
*pxTopOfStack-- = ( StackType_t ) 0x01010101; /* R1 */
*pxTopOfStack-- = ( StackType_t ) 0x02020202; /* R2 */
*pxTopOfStack-- = ( StackType_t ) 0x03030303; /* R3 */
*pxTopOfStack-- = ( StackType_t ) 0x04040404; /* R4 */
*pxTopOfStack-- = ( StackType_t ) 0x05050505; /* R5 */
*pxTopOfStack-- = ( StackType_t ) 0x06060606; /* R6 */
*pxTopOfStack-- = ( StackType_t ) 0x07070707; /* R7 */
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; /* ulCriticalNesting */
*pxTopOfStack-- = ( StackType_t ) portINITIAL_SR; /* SR */
*pxTopOfStack-- = ( StackType_t ) 0xFF0000FF; /* R0 */
*pxTopOfStack-- = ( StackType_t ) 0x01010101; /* R1 */
*pxTopOfStack-- = ( StackType_t ) 0x02020202; /* R2 */
*pxTopOfStack-- = ( StackType_t ) 0x03030303; /* R3 */
*pxTopOfStack-- = ( StackType_t ) 0x04040404; /* R4 */
*pxTopOfStack-- = ( StackType_t ) 0x05050505; /* R5 */
*pxTopOfStack-- = ( StackType_t ) 0x06060606; /* R6 */
*pxTopOfStack-- = ( StackType_t ) 0x07070707; /* R7 */
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING; /* ulCriticalNesting */
return pxTopOfStack;
}
@ -321,7 +326,7 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px
BaseType_t xPortStartScheduler( void )
{
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
* here already. */
prvSetupTimerInterrupt();
/* Start the first task. */
@ -335,130 +340,134 @@ BaseType_t xPortStartScheduler( void )
void vPortEndScheduler( void )
{
/* It is unlikely that the AVR32 port will require this function as there
is nothing to return to. */
* is nothing to return to. */
}
/*-----------------------------------------------------------*/
/* Schedule the COUNT&COMPARE match interrupt in (configCPU_CLOCK_HZ/configTICK_RATE_HZ)
clock cycles from now. */
#if( configTICK_USE_TC==0 )
static void prvScheduleFirstTick(void)
* clock cycles from now. */
#if ( configTICK_USE_TC == 0 )
static void prvScheduleFirstTick( void )
{
uint32_t lCycles;
lCycles = Get_system_register(AVR32_COUNT);
lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
// If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
// generation feature does not get disabled.
if(0 == lCycles)
lCycles = Get_system_register( AVR32_COUNT );
lCycles += ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
/* If lCycles ends up to be 0, make it 1 so that the COMPARE and exception */
/* generation feature does not get disabled. */
if( 0 == lCycles )
{
lCycles++;
}
Set_system_register(AVR32_COMPARE, lCycles);
Set_system_register( AVR32_COMPARE, lCycles );
}
__attribute__((__noinline__)) static void prvScheduleNextTick(void)
__attribute__( ( __noinline__ ) ) static void prvScheduleNextTick( void )
{
uint32_t lCycles, lCount;
lCycles = Get_system_register(AVR32_COMPARE);
lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
// If lCycles ends up to be 0, make it 1 so that the COMPARE and exception
// generation feature does not get disabled.
if(0 == lCycles)
lCycles = Get_system_register( AVR32_COMPARE );
lCycles += ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
/* If lCycles ends up to be 0, make it 1 so that the COMPARE and exception */
/* generation feature does not get disabled. */
if( 0 == lCycles )
{
lCycles++;
}
lCount = Get_system_register(AVR32_COUNT);
lCount = Get_system_register( AVR32_COUNT );
if( lCycles < lCount )
{ // We missed a tick, recover for the next.
lCycles += (configCPU_CLOCK_HZ/configTICK_RATE_HZ);
{ /* We missed a tick, recover for the next. */
lCycles += ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
}
Set_system_register(AVR32_COMPARE, lCycles);
Set_system_register( AVR32_COMPARE, lCycles );
}
#else
__attribute__((__noinline__)) static void prvClearTcInt(void)
#else /* if ( configTICK_USE_TC == 0 ) */
__attribute__( ( __noinline__ ) ) static void prvClearTcInt( void )
{
AVR32_TC.channel[configTICK_TC_CHANNEL].sr;
AVR32_TC.channel[ configTICK_TC_CHANNEL ].sr;
}
#endif
#endif /* if ( configTICK_USE_TC == 0 ) */
/*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt(void)
static void prvSetupTimerInterrupt( void )
{
#if( configTICK_USE_TC==1 )
#if ( configTICK_USE_TC == 1 )
volatile avr32_tc_t * tc = &AVR32_TC;
volatile avr32_tc_t *tc = &AVR32_TC;
/* Options for waveform genration. */
tc_waveform_opt_t waveform_opt =
{
.channel = configTICK_TC_CHANNEL, /* Channel selection. */
// Options for waveform genration.
tc_waveform_opt_t waveform_opt =
{
.channel = configTICK_TC_CHANNEL, /* Channel selection. */
.bswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOB. */
.beevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOB. */
.bcpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOB. */
.bcpb = TC_EVT_EFFECT_NOOP, /* RB compare effect on TIOB. */
.bswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOB. */
.beevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOB. */
.bcpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOB. */
.bcpb = TC_EVT_EFFECT_NOOP, /* RB compare effect on TIOB. */
.aswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOA. */
.aeevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOA. */
.acpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOA: toggle. */
.acpa = TC_EVT_EFFECT_NOOP, /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */
.aswtrg = TC_EVT_EFFECT_NOOP, /* Software trigger effect on TIOA. */
.aeevt = TC_EVT_EFFECT_NOOP, /* External event effect on TIOA. */
.acpc = TC_EVT_EFFECT_NOOP, /* RC compare effect on TIOA: toggle. */
.acpa = TC_EVT_EFFECT_NOOP, /* RA compare effect on TIOA: toggle (other possibilities are none, set and clear). */
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER, /* Waveform selection: Up mode without automatic trigger on RC compare. */
.enetrg = FALSE, /* External event trigger enable. */
.eevt = 0, /* External event selection. */
.eevtedg = TC_SEL_NO_EDGE, /* External event edge selection. */
.cpcdis = FALSE, /* Counter disable when RC compare. */
.cpcstop = FALSE, /* Counter clock stopped with RC compare. */
.wavsel = TC_WAVEFORM_SEL_UP_MODE_RC_TRIGGER,/* Waveform selection: Up mode without automatic trigger on RC compare. */
.enetrg = FALSE, /* External event trigger enable. */
.eevt = 0, /* External event selection. */
.eevtedg = TC_SEL_NO_EDGE, /* External event edge selection. */
.cpcdis = FALSE, /* Counter disable when RC compare. */
.cpcstop = FALSE, /* Counter clock stopped with RC compare. */
.burst = FALSE, /* Burst signal selection. */
.clki = FALSE, /* Clock inversion. */
.tcclks = TC_CLOCK_SOURCE_TC2 /* Internal source clock 2. */
};
.burst = FALSE, /* Burst signal selection. */
.clki = FALSE, /* Clock inversion. */
.tcclks = TC_CLOCK_SOURCE_TC2 /* Internal source clock 2. */
};
tc_interrupt_t tc_interrupt =
{
.etrgs=0,
.ldrbs=0,
.ldras=0,
.cpcs =1,
.cpbs =0,
.cpas =0,
.lovrs=0,
.covfs=0,
};
#endif
tc_interrupt_t tc_interrupt =
{
.etrgs = 0,
.ldrbs = 0,
.ldras = 0,
.cpcs = 1,
.cpbs = 0,
.cpas = 0,
.lovrs = 0,
.covfs = 0,
};
#endif /* if ( configTICK_USE_TC == 1 ) */
/* Disable all interrupt/exception. */
portDISABLE_INTERRUPTS();
/* Register the compare interrupt handler to the interrupt controller and
enable the compare interrupt. */
* enable the compare interrupt. */
#if( configTICK_USE_TC==1 )
#if ( configTICK_USE_TC == 1 )
{
INTC_register_interrupt(&vTick, configTICK_TC_IRQ, INT0);
INTC_register_interrupt( &vTick, configTICK_TC_IRQ, INT0 );
/* Initialize the timer/counter. */
tc_init_waveform(tc, &waveform_opt);
tc_init_waveform( tc, &waveform_opt );
/* Set the compare triggers.
Remember TC counter is 16-bits, so counting second is not possible!
That's why we configure it to count ms. */
tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4) / configTICK_RATE_HZ );
* Remember TC counter is 16-bits, so counting second is not possible!
* That's why we configure it to count ms. */
tc_write_rc( tc, configTICK_TC_CHANNEL, ( configPBA_CLOCK_HZ / 4 ) / configTICK_RATE_HZ );
tc_configure_interrupts( tc, configTICK_TC_CHANNEL, &tc_interrupt );
/* Start the timer/counter. */
tc_start(tc, configTICK_TC_CHANNEL);
tc_start( tc, configTICK_TC_CHANNEL );
}
#else
#else /* if ( configTICK_USE_TC == 1 ) */
{
INTC_register_interrupt(&vTick, AVR32_CORE_COMPARE_IRQ, INT0);
INTC_register_interrupt( &vTick, AVR32_CORE_COMPARE_IRQ, INT0 );
prvScheduleFirstTick();
}
#endif
#endif /* if ( configTICK_USE_TC == 1 ) */
}