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Update PIC32 demo application to remove reliance on PLIB functions.
Update the default low power implementation in all the Cortex-M port layers to add a small critical section.
This commit is contained in:
Richard Barry
parent
c519ba094d
commit
902f9e1a58
22 changed files with 649 additions and 156 deletions
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@ -1,7 +1,7 @@
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/*
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FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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@ -42,7 +42,7 @@
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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@ -52,17 +52,17 @@
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest versions, license
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and contact details.
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http://www.FreeRTOS.org - Documentation, training, latest versions, license
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and contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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provide a safety engineered and independently SIL3 certified version under
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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@ -70,20 +70,29 @@
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* Implementation of functions defined in portable.h for the PIC32MX port.
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*----------------------------------------------------------*/
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#ifndef __XC__
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#error This port is designed to work with XC32. Please update your C compiler version.
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#endif
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Hardware specifics. */
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#define portTIMER_PRESCALE 8
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#define portTIMER_PRESCALE 8
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#define portPRESCALE_BITS 1
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/* Bits within various registers. */
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#define portIE_BIT ( 0x00000001 )
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#define portEXL_BIT ( 0x00000002 )
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#define portIE_BIT ( 0x00000001 )
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#define portEXL_BIT ( 0x00000002 )
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/* Bits within the CAUSE register. */
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#define portCORE_SW_0 ( 0x00000100 )
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#define portCORE_SW_1 ( 0x00000200 )
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/* The EXL bit is set to ensure interrupts do not occur while the context of
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the first task is being restored. */
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#define portINITIAL_SR ( portIE_BIT | portEXL_BIT )
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#define portINITIAL_SR ( portIE_BIT | portEXL_BIT )
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#ifndef configTICK_INTERRUPT_VECTOR
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#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
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@ -99,30 +108,30 @@ unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;
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/* The stack used by interrupt service routines that cause a context switch. */
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portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
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/* The top of stack value ensures there is enough space to store 6 registers on
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/* The top of stack value ensures there is enough space to store 6 registers on
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the callers stack, as some functions seem to want to do this. */
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const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
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/*
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* Place the prototype here to ensure the interrupt vector is correctly installed.
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/*
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* Place the prototype here to ensure the interrupt vector is correctly installed.
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* Note that because the interrupt is written in assembly, the IPL setting in the
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* following line of code has no effect. The interrupt priority is set by the
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* call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
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* call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
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*/
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extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );
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/*
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* The software interrupt handler that performs the yield. Note that, because
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* the interrupt is written in assembly, the IPL setting in the following line of
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* code has no effect. The interrupt priority is set by the call to
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* mConfigIntCoreSW0() in xPortStartScheduler().
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* code has no effect. The interrupt priority is set by the call to
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* mConfigIntCoreSW0() in xPortStartScheduler().
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*/
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void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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/*
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* See header file for description.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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@ -152,7 +161,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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*pxTopOfStack = (portSTACK_TYPE) 0x00000000; /* critical nesting level - no longer used. */
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pxTopOfStack--;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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@ -163,22 +172,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
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* timer by redefining this implementation. If a different timer is used then
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* configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to
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* ensure the RTOS provided tick interrupt handler is installed on the correct
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* vector number. When Timer 1 is used the vector number is defined as
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* vector number. When Timer 1 is used the vector number is defined as
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* _TIMER_1_VECTOR.
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*/
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__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
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{
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const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;
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OpenTimer1( ( T1_ON | T1_PS_1_8 | T1_SOURCE_INT ), ulCompareMatch );
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ConfigIntTimer1( T1_INT_ON | configKERNEL_INTERRUPT_PRIORITY );
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T1CON = 0x0000;
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T1CONbits.TCKPS = portPRESCALE_BITS;
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PR1 = ulCompareMatch;
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IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
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/* Clear the interrupt as a starting condition. */
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IFS0bits.T1IF = 0;
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/* Enable the interrupt. */
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IEC0bits.T1IE = 1;
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/* Start the timer. */
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T1CONbits.TON = 1;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler(void)
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{
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/* It is unlikely that the scheduler for the PIC port will get stopped
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once running. If required disable the tick interrupt here, then return
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once running. If required disable the tick interrupt here, then return
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to xPortStartScheduler(). */
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for( ;; );
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}
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@ -189,14 +209,22 @@ portBASE_TYPE xPortStartScheduler( void )
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extern void vPortStartFirstTask( void );
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extern void *pxCurrentTCB;
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/* Setup the software interrupt. */
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mConfigIntCoreSW0( CSW_INT_ON | configKERNEL_INTERRUPT_PRIORITY | CSW_INT_SUB_PRIOR_0 );
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/* Clear the software interrupt flag. */
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IFS0CLR = _IFS0_CS0IF_MASK;
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/* Setup the timer to generate the tick. Interrupts will have been
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/* Set software timer priority. */
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IPC0CLR = _IPC0_CS0IP_MASK;
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IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION );
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/* Enable software interrupt. */
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IEC0CLR = _IEC0_CS0IE_MASK;
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IEC0SET = 1 << _IEC0_CS0IE_POSITION;
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/* Setup the timer to generate the tick. Interrupts will have been
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disabled by the time we get here. */
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vApplicationSetupTickTimerInterrupt();
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/* Kick off the highest priority task that has been created so far.
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/* Kick off the highest priority task that has been created so far.
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Its stack location is loaded into uxSavedTaskStackPointer. */
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uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;
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vPortStartFirstTask();
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@ -211,17 +239,17 @@ void vPortIncrementTick( void )
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unsigned portBASE_TYPE uxSavedStatus;
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uxSavedStatus = uxPortSetInterruptMaskFromISR();
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vTaskIncrementTick();
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vTaskIncrementTick();
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vPortClearInterruptMaskFromISR( uxSavedStatus );
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/* If we are using the preemptive scheduler then we might want to select
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a different task to execute. */
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#if configUSE_PREEMPTION == 1
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SetCoreSW0();
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_CP0_BIS_CAUSE( portCORE_SW_0 );
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#endif /* configUSE_PREEMPTION */
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/* Clear timer 0 interrupt. */
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mT1ClearIntFlag();
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/* Clear timer 1 interrupt. */
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IFS0CLR = _IFS0_T1IF_MASK;
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}
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/*-----------------------------------------------------------*/
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@ -231,9 +259,9 @@ unsigned portBASE_TYPE uxSavedStatusRegister;
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asm volatile ( "di" );
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uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;
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/* This clears the IPL bits, then sets them to
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/* This clears the IPL bits, then sets them to
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configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called
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from an interrupt that has a priority above
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from an interrupt that has a priority above
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configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action
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can only result in the IPL being unchanged or raised, and therefore never
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lowered. */
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#define PORTMACRO_H
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/* System include files */
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#include <plib.h>
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#include <xc.h>
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#ifdef __cplusplus
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extern "C" {
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