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206
portable/GCC/MicroBlazeV9/port.c
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@ -27,8 +27,8 @@
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the MicroBlaze port.
*----------------------------------------------------------*/
* Implementation of functions defined in portable.h for the MicroBlaze port.
*----------------------------------------------------------*/
/* Scheduler includes. */
@ -44,20 +44,20 @@
#include <microblaze_exceptions_g.h>
/* Tasks are started with a critical section nesting of 0 - however, prior to
the scheduler being commenced interrupts should not be enabled, so the critical
nesting variable is initialised to a non-zero value. */
#define portINITIAL_NESTING_VALUE ( 0xff )
* the scheduler being commenced interrupts should not be enabled, so the critical
* nesting variable is initialised to a non-zero value. */
#define portINITIAL_NESTING_VALUE ( 0xff )
/* The bit within the MSR register that enabled/disables interrupts and
exceptions respectively. */
#define portMSR_IE ( 0x02U )
#define portMSR_EE ( 0x100U )
* exceptions respectively. */
#define portMSR_IE ( 0x02U )
#define portMSR_EE ( 0x100U )
/* If the floating point unit is included in the MicroBlaze build, then the
FSR register is saved as part of the task context. portINITIAL_FSR is the value
given to the FSR register when the initial context is set up for a task being
created. */
#define portINITIAL_FSR ( 0U )
* FSR register is saved as part of the task context. portINITIAL_FSR is the value
* given to the FSR register when the initial context is set up for a task being
* created. */
#define portINITIAL_FSR ( 0U )
/*-----------------------------------------------------------*/
@ -74,27 +74,27 @@ static int32_t prvEnsureInterruptControllerIsInitialised( void );
/*-----------------------------------------------------------*/
/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task
maintains its own count, so this variable is saved as part of the task
context. */
* maintains its own count, so this variable is saved as part of the task
* context. */
volatile UBaseType_t uxCriticalNesting = portINITIAL_NESTING_VALUE;
/* This port uses a separate stack for interrupts. This prevents the stack of
every task needing to be large enough to hold an entire interrupt stack on top
of the task stack. */
uint32_t *pulISRStack;
* every task needing to be large enough to hold an entire interrupt stack on top
* of the task stack. */
uint32_t * pulISRStack;
/* If an interrupt requests a context switch, then ulTaskSwitchRequested will
get set to 1. ulTaskSwitchRequested is inspected just before the main interrupt
handler exits. If, at that time, ulTaskSwitchRequested is set to 1, the kernel
will call vTaskSwitchContext() to ensure the task that runs immediately after
the interrupt exists is the highest priority task that is able to run. This is
an unusual mechanism, but is used for this port because a single interrupt can
cause the servicing of multiple peripherals - and it is inefficient to call
vTaskSwitchContext() multiple times as each peripheral is serviced. */
* get set to 1. ulTaskSwitchRequested is inspected just before the main interrupt
* handler exits. If, at that time, ulTaskSwitchRequested is set to 1, the kernel
* will call vTaskSwitchContext() to ensure the task that runs immediately after
* the interrupt exists is the highest priority task that is able to run. This is
* an unusual mechanism, but is used for this port because a single interrupt can
* cause the servicing of multiple peripherals - and it is inefficient to call
* vTaskSwitchContext() multiple times as each peripheral is serviced. */
volatile uint32_t ulTaskSwitchRequested = 0UL;
/* The instance of the interrupt controller used by this port. This is required
by the Xilinx library API functions. */
* by the Xilinx library API functions. */
static XIntc xInterruptControllerInstance;
/*-----------------------------------------------------------*/
@ -106,20 +106,25 @@ static XIntc xInterruptControllerInstance;
* See the portable.h header file.
*/
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
StackType_t * pxEndOfStack,
TaskFunction_t pxCode,
void * pvParameters )
#else
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
TaskFunction_t pxCode,
void * pvParameters )
#endif
{
extern void * _SDA2_BASE_;
extern void * _SDA_BASE_;
const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
extern void _start1( void );
extern void * _SDA2_BASE_;
extern void * _SDA_BASE_;
const uint32_t ulR2 = ( uint32_t ) &_SDA2_BASE_;
const uint32_t ulR13 = ( uint32_t ) &_SDA_BASE_;
extern void _start1( void );
/* Place a few bytes of known values on the bottom of the stack.
This is essential for the Microblaze port and these lines must
not be omitted. */
* This is essential for the Microblaze port and these lines must
* not be omitted. */
*pxTopOfStack = ( StackType_t ) 0x00000000;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00000000;
@ -129,24 +134,24 @@ extern void _start1( void );
#if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
/* Store the stack limits. */
*pxTopOfStack = (StackType_t) (pxTopOfStack + 3);
*pxTopOfStack = ( StackType_t ) ( pxTopOfStack + 3 );
pxTopOfStack--;
*pxTopOfStack = (StackType_t) pxEndOfStack;
*pxTopOfStack = ( StackType_t ) pxEndOfStack;
pxTopOfStack--;
#endif
#if( XPAR_MICROBLAZE_USE_FPU != 0 )
#if ( XPAR_MICROBLAZE_USE_FPU != 0 )
/* The FSR value placed in the initial task context is just 0. */
*pxTopOfStack = portINITIAL_FSR;
pxTopOfStack--;
#endif
/* The MSR value placed in the initial task context should have interrupts
disabled. Each task will enable interrupts automatically when it enters
the running state for the first time. */
* disabled. Each task will enable interrupts automatically when it enters
* the running state for the first time. */
*pxTopOfStack = mfmsr() & ~portMSR_IE;
#if( MICROBLAZE_EXCEPTIONS_ENABLED == 1 )
#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 )
{
/* Ensure exceptions are enabled for the task. */
*pxTopOfStack |= portMSR_EE;
@ -156,7 +161,7 @@ extern void _start1( void );
pxTopOfStack--;
/* First stack an initial value for the critical section nesting. This
is initialised to zero. */
* is initialised to zero. */
*pxTopOfStack = ( StackType_t ) 0x00;
/* R0 is always zero. */
@ -164,13 +169,13 @@ extern void _start1( void );
/* Place an initial value for all the general purpose registers. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) ulR2; /* R2 - read only small data area. */
*pxTopOfStack = ( StackType_t ) ulR2; /* R2 - read only small data area. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03; /* R3 - return values and temporaries. */
*pxTopOfStack = ( StackType_t ) 0x03; /* R3 - return values and temporaries. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04; /* R4 - return values and temporaries. */
*pxTopOfStack = ( StackType_t ) 0x04; /* R4 - return values and temporaries. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters;/* R5 contains the function call parameters. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R5 contains the function call parameters. */
#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
pxTopOfStack--;
@ -188,15 +193,15 @@ extern void _start1( void );
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x0c; /* R12 - temporaries. */
pxTopOfStack--;
#else
pxTopOfStack-= 8;
#endif
#else /* ifdef portPRE_LOAD_STACK_FOR_DEBUGGING */
pxTopOfStack -= 8;
#endif /* ifdef portPRE_LOAD_STACK_FOR_DEBUGGING */
*pxTopOfStack = ( StackType_t ) ulR13; /* R13 - read/write small data area. */
*pxTopOfStack = ( StackType_t ) ulR13; /* R13 - read/write small data area. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxCode; /* R14 - return address for interrupt. */
*pxTopOfStack = ( StackType_t ) pxCode; /* R14 - return address for interrupt. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) _start1; /* R15 - return address for subroutine. */
*pxTopOfStack = ( StackType_t ) _start1; /* R15 - return address for subroutine. */
#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
pxTopOfStack--;
@ -238,41 +243,41 @@ extern void _start1( void );
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */
pxTopOfStack--;
#else
#else /* ifdef portPRE_LOAD_STACK_FOR_DEBUGGING */
pxTopOfStack -= 13;
#endif
#endif /* ifdef portPRE_LOAD_STACK_FOR_DEBUGGING */
/* Return a pointer to the top of the stack that has been generated so this
can be stored in the task control block for the task. */
* can be stored in the task control block for the task. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
extern void ( vPortStartFirstTask )( void );
extern uint32_t _stack[];
extern void( vPortStartFirstTask )( void );
extern uint32_t _stack[];
/* Setup the hardware to generate the tick. Interrupts are disabled when
this function is called.
This port uses an application defined callback function to install the tick
interrupt handler because the kernel will run on lots of different
MicroBlaze and FPGA configurations - not all of which will have the same
timer peripherals defined or available. An example definition of
vApplicationSetupTimerInterrupt() is provided in the official demo
application that accompanies this port. */
* this function is called.
*
* This port uses an application defined callback function to install the tick
* interrupt handler because the kernel will run on lots of different
* MicroBlaze and FPGA configurations - not all of which will have the same
* timer peripherals defined or available. An example definition of
* vApplicationSetupTimerInterrupt() is provided in the official demo
* application that accompanies this port. */
vApplicationSetupTimerInterrupt();
/* Reuse the stack from main() as the stack for the interrupts/exceptions. */
pulISRStack = ( uint32_t * ) _stack;
/* Ensure there is enough space for the functions called from the interrupt
service routines to write back into the stack frame of the caller. */
* service routines to write back into the stack frame of the caller. */
pulISRStack -= 2;
/* Restore the context of the first task that is going to run. From here
on, the created tasks will be executing. */
* on, the created tasks will be executing. */
vPortStartFirstTask();
/* Should not get here as the tasks are now running! */
@ -283,7 +288,7 @@ extern uint32_t _stack[];
void vPortEndScheduler( void )
{
/* Not implemented in ports where there is nothing to return to.
Artificially force an assert. */
* Artificially force an assert. */
configASSERT( uxCriticalNesting == 1000UL );
}
/*-----------------------------------------------------------*/
@ -293,17 +298,17 @@ void vPortEndScheduler( void )
*/
void vPortYield( void )
{
extern void VPortYieldASM( void );
extern void VPortYieldASM( void );
/* Perform the context switch in a critical section to assure it is
not interrupted by the tick ISR. It is not a problem to do this as
each task maintains its own interrupt status. */
* not interrupted by the tick ISR. It is not a problem to do this as
* each task maintains its own interrupt status. */
portENTER_CRITICAL();
{
/* Jump directly to the yield function to ensure there is no
compiler generated prologue code. */
asm volatile ( "bralid r14, VPortYieldASM \n\t" \
"or r0, r0, r0 \n\t" );
* compiler generated prologue code. */
asm volatile ( "bralid r14, VPortYieldASM \n\t" \
"or r0, r0, r0 \n\t" );
}
portEXIT_CRITICAL();
}
@ -311,16 +316,17 @@ extern void VPortYieldASM( void );
void vPortEnableInterrupt( uint8_t ucInterruptID )
{
int32_t lReturn;
int32_t lReturn;
/* An API function is provided to enable an interrupt in the interrupt
controller because the interrupt controller instance variable is private
to this file. */
* controller because the interrupt controller instance variable is private
* to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
if( lReturn == pdPASS )
{
/* Critical section protects read/modify/writer operation inside
XIntc_Enable(). */
* XIntc_Enable(). */
portENTER_CRITICAL();
{
XIntc_Enable( &xInterruptControllerInstance, ucInterruptID );
@ -334,11 +340,11 @@ int32_t lReturn;
void vPortDisableInterrupt( uint8_t ucInterruptID )
{
int32_t lReturn;
int32_t lReturn;
/* An API function is provided to disable an interrupt in the interrupt
controller because the interrupt controller instance variable is private
to this file. */
* controller because the interrupt controller instance variable is private
* to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
if( lReturn == pdPASS )
@ -350,12 +356,14 @@ int32_t lReturn;
}
/*-----------------------------------------------------------*/
BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID,
XInterruptHandler pxHandler,
void * pvCallBackRef )
{
int32_t lReturn;
int32_t lReturn;
/* An API function is provided to install an interrupt handler because the
interrupt controller instance variable is private to this file. */
* interrupt controller instance variable is private to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
@ -377,10 +385,10 @@ int32_t lReturn;
void vPortRemoveInterruptHandler( uint8_t ucInterruptID )
{
int32_t lReturn;
int32_t lReturn;
/* An API function is provided to remove an interrupt handler because the
interrupt controller instance variable is private to this file. */
* interrupt controller instance variable is private to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
@ -395,11 +403,11 @@ int32_t lReturn;
static int32_t prvEnsureInterruptControllerIsInitialised( void )
{
static int32_t lInterruptControllerInitialised = pdFALSE;
int32_t lReturn;
static int32_t lInterruptControllerInitialised = pdFALSE;
int32_t lReturn;
/* Ensure the interrupt controller instance variable is initialised before
it is used, and that the initialisation only happens once. */
* it is used, and that the initialisation only happens once. */
if( lInterruptControllerInitialised != pdTRUE )
{
lReturn = prvInitialiseInterruptController();
@ -422,19 +430,19 @@ int32_t lReturn;
* Handler for the timer interrupt. This is the handler that the application
* defined callback function vApplicationSetupTimerInterrupt() should install.
*/
void vPortTickISR( void *pvUnused )
void vPortTickISR( void * pvUnused )
{
extern void vApplicationClearTimerInterrupt( void );
extern void vApplicationClearTimerInterrupt( void );
/* Ensure the unused parameter does not generate a compiler warning. */
( void ) pvUnused;
/* This port uses an application defined callback function to clear the tick
interrupt because the kernel will run on lots of different MicroBlaze and
FPGA configurations - not all of which will have the same timer peripherals
defined or available. An example definition of
vApplicationClearTimerInterrupt() is provided in the official demo
application that accompanies this port. */
* interrupt because the kernel will run on lots of different MicroBlaze and
* FPGA configurations - not all of which will have the same timer peripherals
* defined or available. An example definition of
* vApplicationClearTimerInterrupt() is provided in the official demo
* application that accompanies this port. */
vApplicationClearTimerInterrupt();
/* Increment the RTOS tick - this might cause a task to unblock. */
@ -448,7 +456,7 @@ extern void vApplicationClearTimerInterrupt( void );
static int32_t prvInitialiseInterruptController( void )
{
int32_t lStatus;
int32_t lStatus;
lStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE );
@ -461,8 +469,8 @@ int32_t lStatus;
XIntc_SetIntrSvcOption( xInterruptControllerInstance.BaseAddress, XIN_SVC_ALL_ISRS_OPTION );
/* Install exception handlers if the MicroBlaze is configured to handle
exceptions, and the application defined constant
configINSTALL_EXCEPTION_HANDLERS is set to 1. */
* exceptions, and the application defined constant
* configINSTALL_EXCEPTION_HANDLERS is set to 1. */
#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
{
vPortExceptionsInstallHandlers();
@ -470,7 +478,7 @@ int32_t lStatus;
#endif /* MICROBLAZE_EXCEPTIONS_ENABLED */
/* Start the interrupt controller. Interrupts are enabled when the
scheduler starts. */
* scheduler starts. */
lStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE );
if( lStatus == XST_SUCCESS )