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Feature: SMP (#278)

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* Add XMOS XCore ports

Some minor modifications are also made to the kernel to support the
XCore compiler's automatic stack size calculation.

* Update kernel to support SMP

The XMOS XCore ports are also updated to support SMP.

* Fix compiler warnings in xcore ports

The port set and clear interrupt mask from ISR macros were removed from
the ports so that the default macros found in FreeRTOS.h are used
instead. The default macros do not result in warnings when they are
used.

* Remove inline function from timers.h

Inline function converted to macro. This should now build when
optimizations are off and inlining is disabled.

* Fix compiler warnings in xcore ports and tasks.c

* fixed documentation for ulTaskNotifyTake() and ulTaskNotifyTakeIndexed()

* spelling fixes for tasks.c

Co-authored-by: Michael Bruno <mikeb@xmos.com>
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476
portable/GCC/ARM7_AT91FR40008/port.c
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@ -1,238 +1,238 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Atmel AT91R40008
* port.
*
* Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Hardware specific definitions. */
#include "AT91R40008.h"
#include "pio.h"
#include "aic.h"
#include "tc.h"
/* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
#define portTICK_PRIORITY_6 ( 6 )
/*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );
/*
* The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c.
*/
extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/
/*
* Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called.
*
* See header file for description.
*/
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
StackType_t *pxOriginalTOS;
pxOriginalTOS = pxTopOfStack;
/* To ensure asserts in tasks.c don't fail, although in this case the assert
is not really required. */
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 = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--;
/* When the task starts is will expect to find the function parameter in
R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
/* The last thing onto the stack is the status register, which is set for
system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
#ifdef THUMB_INTERWORK
{
/* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
#endif
pxTopOfStack--;
/* Some optimisation levels use the stack differently to others. This
means the 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_SECTION_NESTING;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
/* Start the first task. */
vPortISRStartFirstTask();
/* 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. */
}
/*-----------------------------------------------------------*/
/*
* Setup the tick timer to generate the tick interrupts at the required frequency.
*/
static void prvSetupTimerInterrupt( void )
{
volatile uint32_t ulDummy;
/* Enable clock to the tick timer... */
AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT;
/* Stop the tick timer... */
portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS;
/* Start with tick timer interrupts disabled... */
portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF;
/* Clear any pending tick timer interrupts... */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Store interrupt handler function address in tick timer vector register...
The ISR installed depends on whether the preemptive or cooperative
scheduler is being used. */
#if configUSE_PREEMPTION == 1
{
extern void ( vPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vPreemptiveTick;
}
#else // else use cooperative scheduler
{
extern void ( vNonPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vNonPreemptiveTick;
}
#endif
/* Tick timer interrupt level-sensitive, priority 6... */
AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6;
/* Enable the tick timer interrupt...
First at timer level */
portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS;
/* Then at the AIC level. */
AT91C_BASE_AIC->AIC_IECR = (1 << portTIMER_AIC_CHANNEL);
/* Calculate timer compare value to achieve the desired tick rate... */
if( (configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2) ) <= 0xFFFF )
{
/* The tick rate is fast enough for us to use the faster timer input
clock (main clock / 2). */
portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK2 | TC_BURST_NONE | TC_CPCTRG;
portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2);
}
else
{
/* We must use a slower timer input clock (main clock / 8) because the
tick rate is too slow for the faster input clock. */
portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK8 | TC_BURST_NONE | TC_CPCTRG;
portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 8);
}
/* Start tick timer... */
portTIMER_REG_BASE_PTR->TC_CCR = TC_SWTRG | TC_CLKEN;
}
/*-----------------------------------------------------------*/
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Atmel AT91R40008
* port.
*
* Components that can be compiled to either ARM or THUMB mode are
* contained in this file. The ISR routines, which can only be compiled
* to ARM mode are contained in portISR.c.
*----------------------------------------------------------*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Hardware specific definitions. */
#include "AT91R40008.h"
#include "pio.h"
#include "aic.h"
#include "tc.h"
/* Constants required to setup the task context. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING ( ( StackType_t ) 0 )
#define portTICK_PRIORITY_6 ( 6 )
/*-----------------------------------------------------------*/
/* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );
/*
* The scheduler can only be started from ARM mode, so
* vPortISRStartFirstSTask() is defined in portISR.c.
*/
extern void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/
/*
* Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called.
*
* See header file for description.
*/
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
StackType_t *pxOriginalTOS;
pxOriginalTOS = pxTopOfStack;
/* To ensure asserts in tasks.c don't fail, although in this case the assert
is not really required. */
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 = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--;
/* When the task starts is will expect to find the function parameter in
R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--;
/* The last thing onto the stack is the status register, which is set for
system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
#ifdef THUMB_INTERWORK
{
/* We want the task to start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT;
}
#endif
pxTopOfStack--;
/* Some optimisation levels use the stack differently to others. This
means the 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_SECTION_NESTING;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
/* Start the first task. */
vPortISRStartFirstTask();
/* 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. */
}
/*-----------------------------------------------------------*/
/*
* Setup the tick timer to generate the tick interrupts at the required frequency.
*/
static void prvSetupTimerInterrupt( void )
{
volatile uint32_t ulDummy;
/* Enable clock to the tick timer... */
AT91C_BASE_PS->PS_PCER = portTIMER_CLK_ENABLE_BIT;
/* Stop the tick timer... */
portTIMER_REG_BASE_PTR->TC_CCR = TC_CLKDIS;
/* Start with tick timer interrupts disabled... */
portTIMER_REG_BASE_PTR->TC_IDR = 0xFFFFFFFF;
/* Clear any pending tick timer interrupts... */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Store interrupt handler function address in tick timer vector register...
The ISR installed depends on whether the preemptive or cooperative
scheduler is being used. */
#if configUSE_PREEMPTION == 1
{
extern void ( vPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vPreemptiveTick;
}
#else // else use cooperative scheduler
{
extern void ( vNonPreemptiveTick )( void );
AT91C_BASE_AIC->AIC_SVR[portTIMER_AIC_CHANNEL] = ( uint32_t ) vNonPreemptiveTick;
}
#endif
/* Tick timer interrupt level-sensitive, priority 6... */
AT91C_BASE_AIC->AIC_SMR[ portTIMER_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | portTICK_PRIORITY_6;
/* Enable the tick timer interrupt...
First at timer level */
portTIMER_REG_BASE_PTR->TC_IER = TC_CPCS;
/* Then at the AIC level. */
AT91C_BASE_AIC->AIC_IECR = (1 << portTIMER_AIC_CHANNEL);
/* Calculate timer compare value to achieve the desired tick rate... */
if( (configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2) ) <= 0xFFFF )
{
/* The tick rate is fast enough for us to use the faster timer input
clock (main clock / 2). */
portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK2 | TC_BURST_NONE | TC_CPCTRG;
portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 2);
}
else
{
/* We must use a slower timer input clock (main clock / 8) because the
tick rate is too slow for the faster input clock. */
portTIMER_REG_BASE_PTR->TC_CMR = TC_WAVE | TC_CLKS_MCK8 | TC_BURST_NONE | TC_CPCTRG;
portTIMER_REG_BASE_PTR->TC_RC = configCPU_CLOCK_HZ / (configTICK_RATE_HZ * 8);
}
/* Start tick timer... */
portTIMER_REG_BASE_PTR->TC_CCR = TC_SWTRG | TC_CLKEN;
}
/*-----------------------------------------------------------*/

466
portable/GCC/ARM7_AT91FR40008/portISR.c
View file

@ -1,233 +1,233 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file.
*----------------------------------------------------------*/
/*
Changes from V3.2.4
+ The assembler statements are now included in a single asm block rather
than each line having its own asm block.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Constants required to handle interrupts. */
#define portCLEAR_AIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
/*
* The scheduler can only be started from ARM mode, hence the inclusion of this
* function here.
*/
void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/
void vPortISRStartFirstTask( void )
{
/* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
/*
* Called by portYIELD() or taskYIELD() to manually force a context switch.
*
* When a context switch is performed from the task level the saved task
* context is made to look as if it occurred from within the tick ISR. This
* way the same restore context function can be used when restoring the context
* saved from the ISR or that saved from a call to vPortYieldProcessor.
*/
void vPortYieldProcessor( void )
{
/* Within an IRQ ISR the link register has an offset from the true return
address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */
asm volatile ( "ADD LR, LR, #4" );
/* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */
vTaskSwitchContext();
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
/*
* The ISR used for the scheduler tick depends on whether the cooperative or
* the preemptive scheduler is being used.
*/
#if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */
void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
void vNonPreemptiveTick( void )
{
static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
xTaskIncrementTick();
/* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
}
#else /* else preemption is turned on */
/* The preemptive scheduler is defined as "naked" as the full context is
saved on entry as part of the context switch. */
void vPreemptiveTick( void ) __attribute__((naked));
void vPreemptiveTick( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* WARNING - Do not use local (stack) variables here. Use globals
if you must! */
static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Increment the RTOS tick count, then look for the highest priority
task that is ready to run. */
if( xTaskIncrementTick() != pdFALSE )
{
vTaskSwitchContext();
}
/* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
#endif
/*-----------------------------------------------------------*/
/*
* The interrupt management utilities can only be called from ARM mode. When
* THUMB_INTERWORK is defined the utilities are defined as functions here to
* ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then
* the utilities are defined as macros in portmacro.h - as per other ports.
*/
#ifdef THUMB_INTERWORK
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
void vPortDisableInterruptsFromThumb( void )
{
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */
"BX R14" ); /* Return back to thumb. */
}
void vPortEnableInterruptsFromThumb( void )
{
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */
"BX R14" ); /* Return back to thumb. */
}
#endif /* THUMB_INTERWORK */
/* 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. */
void vPortEnterCritical( void )
{
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */
/* 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 interrupts as per portEXIT_CRITICAL(). */
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */
}
}
}
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Components that can be compiled to either ARM or THUMB mode are
* contained in port.c The ISR routines, which can only be compiled
* to ARM mode, are contained in this file.
*----------------------------------------------------------*/
/*
Changes from V3.2.4
+ The assembler statements are now included in a single asm block rather
than each line having its own asm block.
*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Constants required to handle interrupts. */
#define portCLEAR_AIC_INTERRUPT ( ( uint32_t ) 0 )
/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL;
/*-----------------------------------------------------------*/
/* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
/*
* The scheduler can only be started from ARM mode, hence the inclusion of this
* function here.
*/
void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/
void vPortISRStartFirstTask( void )
{
/* Simply start the scheduler. This is included here as it can only be
called from ARM mode. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
/*
* Called by portYIELD() or taskYIELD() to manually force a context switch.
*
* When a context switch is performed from the task level the saved task
* context is made to look as if it occurred from within the tick ISR. This
* way the same restore context function can be used when restoring the context
* saved from the ISR or that saved from a call to vPortYieldProcessor.
*/
void vPortYieldProcessor( void )
{
/* Within an IRQ ISR the link register has an offset from the true return
address, but an SWI ISR does not. Add the offset manually so the same
ISR return code can be used in both cases. */
asm volatile ( "ADD LR, LR, #4" );
/* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT();
/* Find the highest priority task that is ready to run. */
vTaskSwitchContext();
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
/*
* The ISR used for the scheduler tick depends on whether the cooperative or
* the preemptive scheduler is being used.
*/
#if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to
simply increment the system tick. */
void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
void vNonPreemptiveTick( void )
{
static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
xTaskIncrementTick();
/* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
}
#else /* else preemption is turned on */
/* The preemptive scheduler is defined as "naked" as the full context is
saved on entry as part of the context switch. */
void vPreemptiveTick( void ) __attribute__((naked));
void vPreemptiveTick( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* WARNING - Do not use local (stack) variables here. Use globals
if you must! */
static volatile uint32_t ulDummy;
/* Clear tick timer interrupt indication. */
ulDummy = portTIMER_REG_BASE_PTR->TC_SR;
/* Increment the RTOS tick count, then look for the highest priority
task that is ready to run. */
if( xTaskIncrementTick() != pdFALSE )
{
vTaskSwitchContext();
}
/* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
#endif
/*-----------------------------------------------------------*/
/*
* The interrupt management utilities can only be called from ARM mode. When
* THUMB_INTERWORK is defined the utilities are defined as functions here to
* ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then
* the utilities are defined as macros in portmacro.h - as per other ports.
*/
#ifdef THUMB_INTERWORK
void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
void vPortDisableInterruptsFromThumb( void )
{
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */
"BX R14" ); /* Return back to thumb. */
}
void vPortEnableInterruptsFromThumb( void )
{
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0} \n\t" /* Pop R0. */
"BX R14" ); /* Return back to thumb. */
}
#endif /* THUMB_INTERWORK */
/* 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. */
void vPortEnterCritical( void )
{
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */
/* 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 interrupts as per portEXIT_CRITICAL(). */
asm volatile (
"STMDB SP!, {R0} \n\t" /* Push R0. */
"MRS R0, CPSR \n\t" /* Get CPSR. */
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
"MSR CPSR, R0 \n\t" /* Write back modified value. */
"LDMIA SP!, {R0}" ); /* Pop R0. */
}
}
}

510
portable/GCC/ARM7_AT91FR40008/portmacro.h
View file

@ -1,255 +1,255 @@
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*
Changes from V3.2.3
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
Changes from V3.2.4
+ Removed the use of the %0 parameter within the assembler macros and
replaced them with hard coded registers. This will ensure the
assembler does not select the link register as the temp register as
was occasionally happening previously.
+ The assembler statements are now included in a single asm block rather
than each line having its own asm block.
Changes from V4.5.0
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
and replaced them with portYIELD_FROM_ISR() macro. Application code
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
macros as per the V4.5.1 demo code.
*/
#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 uint32_t
#define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t;
typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif
/*-----------------------------------------------------------*/
/* Hardware specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portYIELD() asm volatile ( "SWI 0" )
#define portNOP() asm volatile ( "NOP" )
/*
* These define the timer to use for generating the tick interrupt.
* They are put in this file so they can be shared between "port.c"
* and "portisr.c".
*/
#define portTIMER_REG_BASE_PTR AT91C_BASE_TC0
#define portTIMER_CLK_ENABLE_BIT AT91C_PS_TC0
#define portTIMER_AIC_CHANNEL ( ( uint32_t ) 4 )
/*-----------------------------------------------------------*/
/* Task utilities. */
/*
* portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
* and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
* are included here for efficiency. An attempt to call one from
* THUMB mode code will result in a compile time error.
*/
#define portRESTORE_CONTEXT() \
{ \
extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \
\
/* Set the LR to the task stack. */ \
asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \
"LDR R0, [R0] \n\t" \
"LDR LR, [R0] \n\t" \
\
/* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \
"LDMFD LR!, {R1} \n\t" \
"STR R1, [R0] \n\t" \
\
/* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \
"MSR SPSR, R0 \n\t" \
\
/* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \
"NOP \n\t" \
\
/* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \
\
/* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \
"SUBS PC, LR, #4 \n\t" \
); \
( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \
}
/*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \
{ \
extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \
\
/* Push R0 as we are going to use the register. */ \
asm volatile ( \
"STMDB SP!, {R0} \n\t" \
\
/* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \
"NOP \n\t" \
"SUB SP, SP, #4 \n\t" \
"LDMIA SP!,{R0} \n\t" \
\
/* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \
\
/* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \
\
/* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \
\
/* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \
"NOP \n\t" \
"SUB LR, LR, #60 \n\t" \
\
/* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \
"STMDB LR!, {R0} \n\t" \
\
"LDR R0, =ulCriticalNesting \n\t" \
"LDR R0, [R0] \n\t" \
"STMDB LR!, {R0} \n\t" \
\
/* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \
"LDR R0, [R0] \n\t" \
"STR LR, [R0] \n\t" \
); \
( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \
}
#define portYIELD_FROM_ISR() vTaskSwitchContext()
/* Critical section handling. */
/*
* The interrupt management utilities can only be called from ARM mode. When
* THUMB_INTERWORK is defined the utilities are defined as functions in
* portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not
* defined then the utilities are defined as macros here - as per other ports.
*/
#ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else
#define portDISABLE_INTERRUPTS() \
asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \
"MRS R0, CPSR \n\t" /* Get CPSR. */ \
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \
"LDMIA SP!, {R0} " ) /* Pop R0. */
#define portENABLE_INTERRUPTS() \
asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \
"MRS R0, CPSR \n\t" /* Get CPSR. */ \
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \
"LDMIA SP!, {R0} " ) /* Pop R0. */
#endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/
/* 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 */
/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
* 1 tab == 4 spaces!
*/
/*
Changes from V3.2.3
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1.
Changes from V3.2.4
+ Removed the use of the %0 parameter within the assembler macros and
replaced them with hard coded registers. This will ensure the
assembler does not select the link register as the temp register as
was occasionally happening previously.
+ The assembler statements are now included in a single asm block rather
than each line having its own asm block.
Changes from V4.5.0
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros
and replaced them with portYIELD_FROM_ISR() macro. Application code
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT()
macros as per the V4.5.1 demo code.
*/
#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 uint32_t
#define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t;
typedef unsigned long UBaseType_t;
#if( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif
/*-----------------------------------------------------------*/
/* Hardware specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
#define portYIELD() asm volatile ( "SWI 0" )
#define portNOP() asm volatile ( "NOP" )
/*
* These define the timer to use for generating the tick interrupt.
* They are put in this file so they can be shared between "port.c"
* and "portisr.c".
*/
#define portTIMER_REG_BASE_PTR AT91C_BASE_TC0
#define portTIMER_CLK_ENABLE_BIT AT91C_PS_TC0
#define portTIMER_AIC_CHANNEL ( ( uint32_t ) 4 )
/*-----------------------------------------------------------*/
/* Task utilities. */
/*
* portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR
* and portEXIT_SWITCHING_ISR can only be called from ARM mode, but
* are included here for efficiency. An attempt to call one from
* THUMB mode code will result in a compile time error.
*/
#define portRESTORE_CONTEXT() \
{ \
extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \
\
/* Set the LR to the task stack. */ \
asm volatile ( \
"LDR R0, =pxCurrentTCB \n\t" \
"LDR R0, [R0] \n\t" \
"LDR LR, [R0] \n\t" \
\
/* The critical nesting depth is the first item on the stack. */ \
/* Load it into the ulCriticalNesting variable. */ \
"LDR R0, =ulCriticalNesting \n\t" \
"LDMFD LR!, {R1} \n\t" \
"STR R1, [R0] \n\t" \
\
/* Get the SPSR from the stack. */ \
"LDMFD LR!, {R0} \n\t" \
"MSR SPSR, R0 \n\t" \
\
/* Restore all system mode registers for the task. */ \
"LDMFD LR, {R0-R14}^ \n\t" \
"NOP \n\t" \
\
/* Restore the return address. */ \
"LDR LR, [LR, #+60] \n\t" \
\
/* And return - correcting the offset in the LR to obtain the */ \
/* correct address. */ \
"SUBS PC, LR, #4 \n\t" \
); \
( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \
}
/*-----------------------------------------------------------*/
#define portSAVE_CONTEXT() \
{ \
extern volatile void * volatile pxCurrentTCB; \
extern volatile uint32_t ulCriticalNesting; \
\
/* Push R0 as we are going to use the register. */ \
asm volatile ( \
"STMDB SP!, {R0} \n\t" \
\
/* Set R0 to point to the task stack pointer. */ \
"STMDB SP,{SP}^ \n\t" \
"NOP \n\t" \
"SUB SP, SP, #4 \n\t" \
"LDMIA SP!,{R0} \n\t" \
\
/* Push the return address onto the stack. */ \
"STMDB R0!, {LR} \n\t" \
\
/* Now we have saved LR we can use it instead of R0. */ \
"MOV LR, R0 \n\t" \
\
/* Pop R0 so we can save it onto the system mode stack. */ \
"LDMIA SP!, {R0} \n\t" \
\
/* Push all the system mode registers onto the task stack. */ \
"STMDB LR,{R0-LR}^ \n\t" \
"NOP \n\t" \
"SUB LR, LR, #60 \n\t" \
\
/* Push the SPSR onto the task stack. */ \
"MRS R0, SPSR \n\t" \
"STMDB LR!, {R0} \n\t" \
\
"LDR R0, =ulCriticalNesting \n\t" \
"LDR R0, [R0] \n\t" \
"STMDB LR!, {R0} \n\t" \
\
/* Store the new top of stack for the task. */ \
"LDR R0, =pxCurrentTCB \n\t" \
"LDR R0, [R0] \n\t" \
"STR LR, [R0] \n\t" \
); \
( void ) ulCriticalNesting; \
( void ) pxCurrentTCB; \
}
#define portYIELD_FROM_ISR() vTaskSwitchContext()
/* Critical section handling. */
/*
* The interrupt management utilities can only be called from ARM mode. When
* THUMB_INTERWORK is defined the utilities are defined as functions in
* portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not
* defined then the utilities are defined as macros here - as per other ports.
*/
#ifdef THUMB_INTERWORK
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb()
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb()
#else
#define portDISABLE_INTERRUPTS() \
asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \
"MRS R0, CPSR \n\t" /* Get CPSR. */ \
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \
"LDMIA SP!, {R0} " ) /* Pop R0. */
#define portENABLE_INTERRUPTS() \
asm volatile ( \
"STMDB SP!, {R0} \n\t" /* Push R0. */ \
"MRS R0, CPSR \n\t" /* Get CPSR. */ \
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \
"LDMIA SP!, {R0} " ) /* Pop R0. */
#endif /* THUMB_INTERWORK */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical();
#define portEXIT_CRITICAL() vPortExitCritical();
/*-----------------------------------------------------------*/
/* 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 */