diff --git a/portable/GCC/AVR_AVRDx/port.c b/portable/GCC/AVR_AVRDx/port.c index 8fca32953..9d5cb9683 100644 --- a/portable/GCC/AVR_AVRDx/port.c +++ b/portable/GCC/AVR_AVRDx/port.c @@ -38,7 +38,7 @@ *----------------------------------------------------------*/ /* Start tasks with interrupts enables. */ -#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) +#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) /*-----------------------------------------------------------*/ @@ -63,103 +63,102 @@ extern volatile RTOS_TCB_t *volatile pxCurrentTCB; * * The interrupts will have been disabled during the call to portSAVE_CONTEXT() * so we need not worry about reading/writing to the stack pointer. - */ -#define portSAVE_CONTEXT() \ - asm volatile("push r0 \n\t" \ - "in r0, __SREG__ \n\t" \ - "cli \n\t" \ - "push r0 \n\t" \ - "in r0, __RAMPZ__ \n\t" \ - "push r0 \n\t" \ - "push r1 \n\t" \ - "clr r1 \n\t" \ - "push r2 \n\t" \ - "push r3 \n\t" \ - "push r4 \n\t" \ - "push r5 \n\t" \ - "push r6 \n\t" \ - "push r7 \n\t" \ - "push r8 \n\t" \ - "push r9 \n\t" \ - "push r10 \n\t" \ - "push r11 \n\t" \ - "push r12 \n\t" \ - "push r13 \n\t" \ - "push r14 \n\t" \ - "push r15 \n\t" \ - "push r16 \n\t" \ - "push r17 \n\t" \ - "push r18 \n\t" \ - "push r19 \n\t" \ - "push r20 \n\t" \ - "push r21 \n\t" \ - "push r22 \n\t" \ - "push r23 \n\t" \ - "push r24 \n\t" \ - "push r25 \n\t" \ - "push r26 \n\t" \ - "push r27 \n\t" \ - "push r28 \n\t" \ - "push r29 \n\t" \ - "push r30 \n\t" \ - "push r31 \n\t" \ - "lds r26, pxCurrentTCB \n\t" \ - "lds r27, pxCurrentTCB + 1 \n\t" \ - "in r0, __SP_L__ \n\t" \ - "st x+, r0 \n\t" \ - "in r0, __SP_H__ \n\t" \ - "st x+, r0 \n\t"); +#define portSAVE_CONTEXT() \ + asm volatile("push r0 \n\t" \ + "in r0, __SREG__ \n\t" \ + "cli \n\t" \ + "push r0 \n\t" \ + "in r0, __RAMPZ__ \n\t" \ + "push r0 \n\t" \ + "push r1 \n\t" \ + "clr r1 \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in r0, __SP_L__ \n\t" \ + "st x+, r0 \n\t" \ + "in r0, __SP_H__ \n\t" \ + "st x+, r0 \n\t"); /* * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during * the context save so we can write to the stack pointer. */ -#define portRESTORE_CONTEXT() \ - asm volatile("lds r26, pxCurrentTCB \n\t" \ - "lds r27, pxCurrentTCB + 1 \n\t" \ - "ld r28, x+ \n\t" \ - "out __SP_L__, r28 \n\t" \ - "ld r29, x+ \n\t" \ - "out __SP_H__, r29 \n\t" \ - "pop r31 \n\t" \ - "pop r30 \n\t" \ - "pop r29 \n\t" \ - "pop r28 \n\t" \ - "pop r27 \n\t" \ - "pop r26 \n\t" \ - "pop r25 \n\t" \ - "pop r24 \n\t" \ - "pop r23 \n\t" \ - "pop r22 \n\t" \ - "pop r21 \n\t" \ - "pop r20 \n\t" \ - "pop r19 \n\t" \ - "pop r18 \n\t" \ - "pop r17 \n\t" \ - "pop r16 \n\t" \ - "pop r15 \n\t" \ - "pop r14 \n\t" \ - "pop r13 \n\t" \ - "pop r12 \n\t" \ - "pop r11 \n\t" \ - "pop r10 \n\t" \ - "pop r9 \n\t" \ - "pop r8 \n\t" \ - "pop r7 \n\t" \ - "pop r6 \n\t" \ - "pop r5 \n\t" \ - "pop r4 \n\t" \ - "pop r3 \n\t" \ - "pop r2 \n\t" \ - "pop r1 \n\t" \ - "pop r0 \n\t" \ - "out __RAMPZ__, r0 \n\t" \ - "pop r0 \n\t" \ - "out __SREG__, r0 \n\t" \ - "pop r0 \n\t"); +#define portRESTORE_CONTEXT() \ + asm volatile("lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop r1 \n\t" \ + "pop r0 \n\t" \ + "out __RAMPZ__, r0 \n\t" \ + "pop r0 \n\t" \ + "out __SREG__, r0 \n\t" \ + "pop r0 \n\t"); /*-----------------------------------------------------------*/ @@ -174,11 +173,11 @@ static void prvSetupTimerInterrupt(void); */ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters) { - uint16_t usAddress; + uint16_t usAddress; - /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ - /* Place a few bytes of known values on the bottom of the stack. + /* Place a few bytes of known values on the bottom of the stack. This is just useful for debugging. Uncomment if needed. */ // *pxTopOfStack = 0x11; // pxTopOfStack--; @@ -187,70 +186,70 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC // *pxTopOfStack = 0x33; // pxTopOfStack--; - /* The start of the task code will be popped off the stack last, so place - it on first. */ - usAddress = (uint16_t)pxCode; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + /* The start of the task code will be popped off the stack last, so place + it on first. */ + usAddress = (uint16_t)pxCode; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - usAddress >>= 8; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + usAddress >>= 8; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). - portSAVE_CONTEXT places the flags on the stack immediately after r0 - to ensure the interrupts get disabled as soon as possible, and so ensuring - the stack use is minimal should a context switch interrupt occur. */ - *pxTopOfStack = (StackType_t)0x00; /* R0 */ - pxTopOfStack--; - *pxTopOfStack = portFLAGS_INT_ENABLED; - pxTopOfStack--; - *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ - pxTopOfStack--; - - /* Now the remaining registers. The compiler expects R1 to be 0. */ - *pxTopOfStack = (StackType_t)0x00; /* R1 */ + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = (StackType_t)0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ + pxTopOfStack--; + + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = (StackType_t)0x00; /* R1 */ - /* Leave R2 - R23 untouched */ - pxTopOfStack -= 23; + /* Leave R2 - R23 untouched */ + pxTopOfStack -= 23; - /* Place the parameter on the stack in the expected location. */ - usAddress = (uint16_t)pvParameters; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + /* Place the parameter on the stack in the expected location. */ + usAddress = (uint16_t)pvParameters; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - usAddress >>= 8; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + usAddress >>= 8; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - /* Leave register R26 - R31 untouched */ - pxTopOfStack -= 7; + /* Leave register R26 - R31 untouched */ + pxTopOfStack -= 7; - /*lint +e950 +e611 +e923 */ + /*lint +e950 +e611 +e923 */ - return pxTopOfStack; + return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler(void) { - /* Setup the hardware to generate the tick. */ - prvSetupTimerInterrupt(); + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); - /* Restore the context of the first task that is going to run. */ - portRESTORE_CONTEXT(); + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); - /* Simulate a function call end as generated by the compiler. We will now - jump to the start of the task the context of which we have just restored. */ - asm volatile("ret"); + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + asm volatile("ret"); - /* Should not get here. */ - return pdTRUE; + /* Should not get here. */ + return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler(void) { - /* vPortEndScheduler is not implemented in this port. */ + /* vPortEndScheduler is not implemented in this port. */ } /*-----------------------------------------------------------*/ @@ -261,10 +260,10 @@ void vPortEndScheduler(void) void vPortYield(void) __attribute__((naked)); void vPortYield(void) { - portSAVE_CONTEXT(); - vTaskSwitchContext(); - portRESTORE_CONTEXT(); - asm volatile("ret"); + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile("ret"); } /*-----------------------------------------------------------*/ @@ -275,10 +274,10 @@ void vPortYield(void) void vPortYieldFromISR(void) __attribute__((naked)); void vPortYieldFromISR(void) { - portSAVE_CONTEXT(); - vTaskSwitchContext(); - portRESTORE_CONTEXT(); - asm volatile("reti"); + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile("reti"); } /*-----------------------------------------------------------*/ @@ -291,15 +290,14 @@ void vPortYieldFromISR(void) void vPortYieldFromTick(void) __attribute__((naked)); void vPortYieldFromTick(void) { - portSAVE_CONTEXT(); - - if (xTaskIncrementTick() != pdFALSE) { - vTaskSwitchContext(); - } + portSAVE_CONTEXT(); + if (xTaskIncrementTick() != pdFALSE) { + vTaskSwitchContext(); + } - portRESTORE_CONTEXT(); + portRESTORE_CONTEXT(); - asm volatile("reti"); + asm volatile("reti"); } /*-----------------------------------------------------------*/ @@ -308,7 +306,7 @@ void vPortYieldFromTick(void) */ static void prvSetupTimerInterrupt(void) { - TICK_init(); + TICK_init(); } /*-----------------------------------------------------------*/ @@ -319,17 +317,15 @@ static void prvSetupTimerInterrupt(void) * the context is saved at the start of vPortYieldFromTick(). The tick * count is incremented after the context is saved. */ - ISR(TICK_INT_vect, ISR_NAKED) { - /* Clear tick interrupt flag. */ - CLR_INT(INT_FLAGS, INT_MASK); + /* Clear tick interrupt flag. */ + CLR_INT(INT_FLAGS, INT_MASK); - vPortYieldFromTick(); + vPortYieldFromTick(); - asm volatile("reti"); + asm volatile("reti"); } - #else /* @@ -337,14 +333,10 @@ ISR(TICK_INT_vect, ISR_NAKED) * tick count. We don't need to switch context, this can only be done by * manual calls to taskYIELD(); */ - ISR(TICK_INT_vect) { - /* Clear tick interrupt flag. */ - INT_FLAGS = INT_MASK; - - xTaskIncrementTick(); + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + xTaskIncrementTick(); } - - #endif diff --git a/portable/GCC/AVR_AVRDx/porthardware.h b/portable/GCC/AVR_AVRDx/porthardware.h index 4b0e04be0..cf2377844 100644 --- a/portable/GCC/AVR_AVRDx/porthardware.h +++ b/portable/GCC/AVR_AVRDx/porthardware.h @@ -6,126 +6,96 @@ /*-----------------------------------------------------------*/ #define CLR_INT(FLAG_REG, FLAG_MASK) \ - asm volatile( "push r16\n\t" \ - "ldi r16, %1\n\t" \ - "sts %0, r16\n\t" \ - "pop r16\n\t" \ - : \ - : "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \ - ); + asm volatile( \ + "push r16\n\t" \ + "ldi r16, %1\n\t" \ + "sts %0, r16\n\t" \ + "pop r16\n\t" \ + : \ + : "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \ + ); #if ( configUSE_TIMER_INSTANCE == 0 ) - #define TICK_INT_vect TCB0_INT_vect - #define INT_FLAGS TCB0_INTFLAGS - #define INT_MASK TCB_CAPT_bm - - #define TICK_init() { \ - TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB0.INTCTRL = TCB_CAPT_bm; \ - TCB0.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB0.INTCTRL &= ~TCB_CAPT_bm;\ - TCB0.CTRLA &= ~TCB_ENABLE_bm; \ - } + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } #elif ( configUSE_TIMER_INSTANCE == 1 ) - #define TICK_INT_vect TCB1_INT_vect - #define INT_FLAGS TCB1_INTFLAGS - #define INT_MASK TCB_CAPT_bm - - #define TICK_init() { \ - TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB1.INTCTRL = TCB_CAPT_bm; \ - TCB1.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB1.INTCTRL &= ~TCB_CAPT_bm; \ - TCB1.CTRLA &= ~TCB_ENABLE_bm; \ - } - + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + #elif ( configUSE_TIMER_INSTANCE == 2 ) - #define TICK_INT_vect TCB2_INT_vect - #define INT_FLAGS TCB2_INTFLAGS - #define INT_MASK TCB_CAPT_bm + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm - #define TICK_init() { \ - TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB2.INTCTRL = TCB_CAPT_bm; \ - TCB2.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB2.INTCTRL &= ~TCB_CAPT_bm; \ - TCB2.CTRLA &= ~TCB_ENABLE_bm; \ - } - + #define TICK_init() { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + #elif ( configUSE_TIMER_INSTANCE == 3 ) - #define TICK_INT_vect TCB3_INT_vect - #define INT_FLAGS TCB3_INTFLAGS - #define INT_MASK TCB_CAPT_bm - - #define TICK_init() { \ - TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB3.INTCTRL = TCB_CAPT_bm; \ - TCB3.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB3.INTCTRL &= ~TCB_CAPT_bm; \ - TCB3.CTRLA &= ~TCB_ENABLE_bm; \ - } - + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + #elif ( configUSE_TIMER_INSTANCE == 4 ) - #define TICK_INT_vect TCB4_INT_vect - #define INT_FLAGS TCB4_INTFLAGS - #define INT_MASK TCB_CAPT_bm - - #define TICK_init() { \ - TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB4.INTCTRL = TCB_CAPT_bm; \ - TCB4.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB4.INTCTRL &= ~TCB_CAPT_bm; \ - TCB4.CTRLA &= ~TCB_ENABLE_bm; \ - } - + #define TICK_INT_vect TCB4_INT_vect + #define INT_FLAGS TCB4_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB4.INTCTRL = TCB_CAPT_bm; \ + TCB4.CTRLA = TCB_ENABLE_bm; \ + } + #elif ( configUSE_TIMER_INSTANCE == 5 ) - - /* Hertz to period for RTC setup */ - #define RTC_PERIOD_HZ(x) (32768 * ((1.0 / x))) - - #define TICK_INT_vect RTC_CNT_vect - #define INT_FLAGS RTC_INTFLAGS - #define INT_MASK RTC_OVF_bm - - #define TICK_init() { \ - while (RTC.STATUS > 0); \ - RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ - RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ - RTC.INTCTRL |= 1 << RTC_OVF_bp; \ - } - - #define TICK_stop() { \ - RTC.CTRLA &= ~(1 << RTC_RTCEN_bp); \ - RTC.INTCTRL &= ~(1 << RTC_OVF_bp); \ - } + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + + /* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() { \ + while (RTC.STATUS > 0); \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } #else - #undef TICK_INT_vect - #undef INT_FLAGS - #undef INT_MASK - #undef TICK_init() - #error Invalid timer setting. + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. #endif /*-----------------------------------------------------------*/ diff --git a/portable/GCC/AVR_AVRDx/portmacro.h b/portable/GCC/AVR_AVRDx/portmacro.h index 83d41d31e..085a27fc1 100644 --- a/portable/GCC/AVR_AVRDx/portmacro.h +++ b/portable/GCC/AVR_AVRDx/portmacro.h @@ -64,18 +64,17 @@ typedef uint16_t TickType_t; typedef uint32_t TickType_t; #define portMAX_DELAY (TickType_t)0xffffffffUL #endif - /*-----------------------------------------------------------*/ /* Critical section management. */ #define portENTER_CRITICAL() \ - asm volatile("in __tmp_reg__, __SREG__"); \ - asm volatile("cli"); \ - asm volatile("push __tmp_reg__") + asm volatile("in __tmp_reg__, __SREG__"); \ + asm volatile("cli"); \ + asm volatile("push __tmp_reg__") #define portEXIT_CRITICAL() \ - asm volatile("pop __tmp_reg__"); \ - asm volatile("out __SREG__, __tmp_reg__") + asm volatile("pop __tmp_reg__"); \ + asm volatile("out __SREG__, __tmp_reg__") #define portDISABLE_INTERRUPTS() asm volatile("cli" ::); #define portENABLE_INTERRUPTS() asm volatile("sei" ::); diff --git a/portable/GCC/AVR_Mega0/port.c b/portable/GCC/AVR_Mega0/port.c index 39cdd843a..8c4684294 100644 --- a/portable/GCC/AVR_Mega0/port.c +++ b/portable/GCC/AVR_Mega0/port.c @@ -29,9 +29,7 @@ #include #include - #include "porthardware.h" - #include "FreeRTOS.h" #include "task.h" @@ -40,7 +38,7 @@ *----------------------------------------------------------*/ /* Start tasks with interrupts enables. */ -#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) +#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) /*-----------------------------------------------------------*/ @@ -67,96 +65,96 @@ extern volatile RTOS_TCB_t *volatile pxCurrentTCB; * so we need not worry about reading/writing to the stack pointer. */ -#define portSAVE_CONTEXT() \ - asm volatile("push r0 \n\t" \ - "in r0, __SREG__ \n\t" \ - "cli \n\t" \ - "push r0 \n\t" \ - "push r1 \n\t" \ - "clr r1 \n\t" \ - "push r2 \n\t" \ - "push r3 \n\t" \ - "push r4 \n\t" \ - "push r5 \n\t" \ - "push r6 \n\t" \ - "push r7 \n\t" \ - "push r8 \n\t" \ - "push r9 \n\t" \ - "push r10 \n\t" \ - "push r11 \n\t" \ - "push r12 \n\t" \ - "push r13 \n\t" \ - "push r14 \n\t" \ - "push r15 \n\t" \ - "push r16 \n\t" \ - "push r17 \n\t" \ - "push r18 \n\t" \ - "push r19 \n\t" \ - "push r20 \n\t" \ - "push r21 \n\t" \ - "push r22 \n\t" \ - "push r23 \n\t" \ - "push r24 \n\t" \ - "push r25 \n\t" \ - "push r26 \n\t" \ - "push r27 \n\t" \ - "push r28 \n\t" \ - "push r29 \n\t" \ - "push r30 \n\t" \ - "push r31 \n\t" \ - "lds r26, pxCurrentTCB \n\t" \ - "lds r27, pxCurrentTCB + 1 \n\t" \ - "in r0, __SP_L__ \n\t" \ - "st x+, r0 \n\t" \ - "in r0, __SP_H__ \n\t" \ - "st x+, r0 \n\t"); +#define portSAVE_CONTEXT() \ + asm volatile("push r0 \n\t" \ + "in r0, __SREG__ \n\t" \ + "cli \n\t" \ + "push r0 \n\t" \ + "push r1 \n\t" \ + "clr r1 \n\t" \ + "push r2 \n\t" \ + "push r3 \n\t" \ + "push r4 \n\t" \ + "push r5 \n\t" \ + "push r6 \n\t" \ + "push r7 \n\t" \ + "push r8 \n\t" \ + "push r9 \n\t" \ + "push r10 \n\t" \ + "push r11 \n\t" \ + "push r12 \n\t" \ + "push r13 \n\t" \ + "push r14 \n\t" \ + "push r15 \n\t" \ + "push r16 \n\t" \ + "push r17 \n\t" \ + "push r18 \n\t" \ + "push r19 \n\t" \ + "push r20 \n\t" \ + "push r21 \n\t" \ + "push r22 \n\t" \ + "push r23 \n\t" \ + "push r24 \n\t" \ + "push r25 \n\t" \ + "push r26 \n\t" \ + "push r27 \n\t" \ + "push r28 \n\t" \ + "push r29 \n\t" \ + "push r30 \n\t" \ + "push r31 \n\t" \ + "lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "in r0, __SP_L__ \n\t" \ + "st x+, r0 \n\t" \ + "in r0, __SP_H__ \n\t" \ + "st x+, r0 \n\t"); /* * Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during * the context save so we can write to the stack pointer. */ -#define portRESTORE_CONTEXT() \ - asm volatile("lds r26, pxCurrentTCB \n\t" \ - "lds r27, pxCurrentTCB + 1 \n\t" \ - "ld r28, x+ \n\t" \ - "out __SP_L__, r28 \n\t" \ - "ld r29, x+ \n\t" \ - "out __SP_H__, r29 \n\t" \ - "pop r31 \n\t" \ - "pop r30 \n\t" \ - "pop r29 \n\t" \ - "pop r28 \n\t" \ - "pop r27 \n\t" \ - "pop r26 \n\t" \ - "pop r25 \n\t" \ - "pop r24 \n\t" \ - "pop r23 \n\t" \ - "pop r22 \n\t" \ - "pop r21 \n\t" \ - "pop r20 \n\t" \ - "pop r19 \n\t" \ - "pop r18 \n\t" \ - "pop r17 \n\t" \ - "pop r16 \n\t" \ - "pop r15 \n\t" \ - "pop r14 \n\t" \ - "pop r13 \n\t" \ - "pop r12 \n\t" \ - "pop r11 \n\t" \ - "pop r10 \n\t" \ - "pop r9 \n\t" \ - "pop r8 \n\t" \ - "pop r7 \n\t" \ - "pop r6 \n\t" \ - "pop r5 \n\t" \ - "pop r4 \n\t" \ - "pop r3 \n\t" \ - "pop r2 \n\t" \ - "pop r1 \n\t" \ - "pop r0 \n\t" \ - "out __SREG__, r0 \n\t" \ - "pop r0 \n\t"); +#define portRESTORE_CONTEXT() \ + asm volatile("lds r26, pxCurrentTCB \n\t" \ + "lds r27, pxCurrentTCB + 1 \n\t" \ + "ld r28, x+ \n\t" \ + "out __SP_L__, r28 \n\t" \ + "ld r29, x+ \n\t" \ + "out __SP_H__, r29 \n\t" \ + "pop r31 \n\t" \ + "pop r30 \n\t" \ + "pop r29 \n\t" \ + "pop r28 \n\t" \ + "pop r27 \n\t" \ + "pop r26 \n\t" \ + "pop r25 \n\t" \ + "pop r24 \n\t" \ + "pop r23 \n\t" \ + "pop r22 \n\t" \ + "pop r21 \n\t" \ + "pop r20 \n\t" \ + "pop r19 \n\t" \ + "pop r18 \n\t" \ + "pop r17 \n\t" \ + "pop r16 \n\t" \ + "pop r15 \n\t" \ + "pop r14 \n\t" \ + "pop r13 \n\t" \ + "pop r12 \n\t" \ + "pop r11 \n\t" \ + "pop r10 \n\t" \ + "pop r9 \n\t" \ + "pop r8 \n\t" \ + "pop r7 \n\t" \ + "pop r6 \n\t" \ + "pop r5 \n\t" \ + "pop r4 \n\t" \ + "pop r3 \n\t" \ + "pop r2 \n\t" \ + "pop r1 \n\t" \ + "pop r0 \n\t" \ + "out __SREG__, r0 \n\t" \ + "pop r0 \n\t"); /*-----------------------------------------------------------*/ @@ -171,81 +169,81 @@ static void prvSetupTimerInterrupt(void); */ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters) { - uint16_t usAddress; + uint16_t usAddress; - /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ - - /* Place a few bytes of known values on the bottom of the stack. - This is just useful for debugging. Uncomment if needed. */ - // *pxTopOfStack = 0x11; + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. Uncomment if needed. */ + // *pxTopOfStack = 0x11; // pxTopOfStack--; // *pxTopOfStack = 0x22; // pxTopOfStack--; // *pxTopOfStack = 0x33; // pxTopOfStack--; - /* The start of the task code will be popped off the stack last, so place - it on first. */ - usAddress = (uint16_t)pxCode; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + /* The start of the task code will be popped off the stack last, so place + it on first. */ + usAddress = (uint16_t)pxCode; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - usAddress >>= 8; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + usAddress >>= 8; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). - portSAVE_CONTEXT places the flags on the stack immediately after r0 - to ensure the interrupts get disabled as soon as possible, and so ensuring - the stack use is minimal should a context switch interrupt occur. */ - *pxTopOfStack = (StackType_t)0x00; /* R0 */ - pxTopOfStack--; - *pxTopOfStack = portFLAGS_INT_ENABLED; - pxTopOfStack--; + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = (StackType_t)0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; - /* Now the remaining registers. The compiler expects R1 to be 0. */ - *pxTopOfStack = (StackType_t)0x00; /* R1 */ + /* Now the remaining registers. The compiler expects R1 to be 0. */ + *pxTopOfStack = (StackType_t)0x00; /* R1 */ - /* Leave R2 - R23 untouched */ - pxTopOfStack -= 23; + /* Leave R2 - R23 untouched */ + pxTopOfStack -= 23; - /* Place the parameter on the stack in the expected location. */ - usAddress = (uint16_t)pvParameters; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - pxTopOfStack--; + /* Place the parameter on the stack in the expected location. */ + usAddress = (uint16_t)pvParameters; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + pxTopOfStack--; - usAddress >>= 8; - *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); + usAddress >>= 8; + *pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff); - /* Leave register R26 - R31 untouched */ - pxTopOfStack -= 7; + /* Leave register R26 - R31 untouched */ + pxTopOfStack -= 7; - /*lint +e950 +e611 +e923 */ + /*lint +e950 +e611 +e923 */ - return pxTopOfStack; + return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler(void) { - /* Setup the hardware to generate the tick. */ - prvSetupTimerInterrupt(); + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); - /* Restore the context of the first task that is going to run. */ - portRESTORE_CONTEXT(); + /* Restore the context of the first task that is going to run. */ + portRESTORE_CONTEXT(); - /* Simulate a function call end as generated by the compiler. We will now - jump to the start of the task the context of which we have just restored. */ - asm volatile("ret"); + /* Simulate a function call end as generated by the compiler. We will now + jump to the start of the task the context of which we have just restored. */ + asm volatile("ret"); - /* Should not get here. */ - return pdTRUE; + /* Should not get here. */ + return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler(void) { - /* vPortEndScheduler is not implemented in this port. */ + /* vPortEndScheduler is not implemented in this port. */ } /*-----------------------------------------------------------*/ @@ -256,10 +254,10 @@ void vPortEndScheduler(void) void vPortYield(void) __attribute__((naked)); void vPortYield(void) { - portSAVE_CONTEXT(); - vTaskSwitchContext(); - portRESTORE_CONTEXT(); - asm volatile("ret"); + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile("ret"); } /*-----------------------------------------------------------*/ @@ -270,10 +268,10 @@ void vPortYield(void) void vPortYieldFromISR(void) __attribute__((naked)); void vPortYieldFromISR(void) { - portSAVE_CONTEXT(); - vTaskSwitchContext(); - portRESTORE_CONTEXT(); - asm volatile("reti"); + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); + asm volatile("reti"); } /*-----------------------------------------------------------*/ @@ -286,14 +284,14 @@ void vPortYieldFromISR(void) void vPortYieldFromTick(void) __attribute__((naked)); void vPortYieldFromTick(void) { - portSAVE_CONTEXT(); - if (xTaskIncrementTick() != pdFALSE) { - vTaskSwitchContext(); - } + portSAVE_CONTEXT(); + if (xTaskIncrementTick() != pdFALSE) { + vTaskSwitchContext(); + } - portRESTORE_CONTEXT(); + portRESTORE_CONTEXT(); - asm volatile("reti"); + asm volatile("reti"); } /*-----------------------------------------------------------*/ @@ -302,7 +300,7 @@ void vPortYieldFromTick(void) */ static void prvSetupTimerInterrupt(void) { - TICK_init(); + TICK_init(); } /*-----------------------------------------------------------*/ @@ -315,12 +313,12 @@ static void prvSetupTimerInterrupt(void) */ ISR(TICK_INT_vect, ISR_NAKED) { - /* Clear tick interrupt flag. */ - CLR_INT(INT_FLAGS, INT_MASK); + /* Clear tick interrupt flag. */ + CLR_INT(INT_FLAGS, INT_MASK); - vPortYieldFromTick(); + vPortYieldFromTick(); - asm volatile("reti"); + asm volatile("reti"); } #else @@ -331,8 +329,8 @@ ISR(TICK_INT_vect, ISR_NAKED) */ ISR(TICK_INT_vect) { - /* Clear tick interrupt flag. */ - INT_FLAGS = INT_MASK; - xTaskIncrementTick(); + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + xTaskIncrementTick(); } #endif diff --git a/portable/GCC/AVR_Mega0/porthardware.h b/portable/GCC/AVR_Mega0/porthardware.h index b0d9002c1..aeeccf534 100644 --- a/portable/GCC/AVR_Mega0/porthardware.h +++ b/portable/GCC/AVR_Mega0/porthardware.h @@ -6,106 +6,84 @@ /*-----------------------------------------------------------*/ #define CLR_INT(FLAG_REG, FLAG_MASK) \ - asm volatile( "push r16\n\t" \ - "ldi r16, %1\n\t" \ - "sts %0, r16\n\t" \ - "pop r16\n\t" \ - : \ - : "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \ - ); + asm volatile( \ + "push r16\n\t" \ + "ldi r16, %1\n\t" \ + "sts %0, r16\n\t" \ + "pop r16\n\t" \ + : \ + : "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \ + ); #if ( configUSE_TIMER_INSTANCE == 0 ) - #define TICK_INT_vect TCB0_INT_vect - #define INT_FLAGS TCB0_INTFLAGS - #define INT_MASK TCB_CAPT_bm + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm - #define TICK_init() { \ - TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB0.INTCTRL = TCB_CAPT_bm; \ - TCB0.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB0.INTCTRL &= ~TCB_CAPT_bm;\ - TCB0.CTRLA &= ~TCB_ENABLE_bm; \ - } + #define TICK_init() { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } #elif ( configUSE_TIMER_INSTANCE == 1 ) - #define TICK_INT_vect TCB1_INT_vect - #define INT_FLAGS TCB1_INTFLAGS - #define INT_MASK TCB_CAPT_bm + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm - #define TICK_init() { \ - TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB1.INTCTRL = TCB_CAPT_bm; \ - TCB1.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB1.INTCTRL &= ~TCB_CAPT_bm; \ - TCB1.CTRLA &= ~TCB_ENABLE_bm; \ - } + #define TICK_init() { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } #elif ( configUSE_TIMER_INSTANCE == 2 ) - #define TICK_INT_vect TCB2_INT_vect - #define INT_FLAGS TCB2_INTFLAGS - #define INT_MASK TCB_CAPT_bm + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm - #define TICK_init() { \ - TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB2.INTCTRL = TCB_CAPT_bm; \ - TCB2.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB2.INTCTRL &= ~TCB_CAPT_bm; \ - TCB2.CTRLA &= ~TCB_ENABLE_bm; \ - } + #define TICK_init() { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } #elif ( configUSE_TIMER_INSTANCE == 3 ) - #define TICK_INT_vect TCB3_INT_vect - #define INT_FLAGS TCB3_INTFLAGS - #define INT_MASK TCB_CAPT_bm + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm - #define TICK_init() { \ - TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ - TCB3.INTCTRL = TCB_CAPT_bm; \ - TCB3.CTRLA = TCB_ENABLE_bm; \ - } - - #define TICK_stop() { \ - TCB3.INTCTRL &= ~TCB_CAPT_bm; \ - TCB3.CTRLA &= ~TCB_ENABLE_bm; \ - } + #define TICK_init() { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } #elif ( configUSE_TIMER_INSTANCE == 4 ) - #define TICK_INT_vect RTC_CNT_vect - #define INT_FLAGS RTC_INTFLAGS - #define INT_MASK RTC_OVF_bm + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm - #define RTC_PERIOD_HZ(x) (32768 * ( (1.0 / x) ) ) - #define TICK_init() { \ - while (RTC.STATUS > 0); \ - RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ - RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ - RTC.INTCTRL |= 1 << RTC_OVF_bp; \ - } - - #define TICK_stop() { \ - RTC.CTRLA &= ~(1 << RTC_RTCEN_bp); \ - RTC.INTCTRL &= ~(1 << RTC_OVF_bp); \ - } + /* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() { \ + while (RTC.STATUS > 0); \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } #else -#undef TICK_INT_vect -#undef INT_FLAGS -#undef INT_MASK -#error Invalid timer setting + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. #endif /*-----------------------------------------------------------*/ diff --git a/portable/GCC/AVR_Mega0/portmacro.h b/portable/GCC/AVR_Mega0/portmacro.h index 040f498fb..085a27fc1 100644 --- a/portable/GCC/AVR_Mega0/portmacro.h +++ b/portable/GCC/AVR_Mega0/portmacro.h @@ -68,13 +68,13 @@ typedef uint32_t TickType_t; /* Critical section management. */ #define portENTER_CRITICAL() \ - asm volatile("in __tmp_reg__, __SREG__"); \ - asm volatile("cli"); \ - asm volatile("push __tmp_reg__") + asm volatile("in __tmp_reg__, __SREG__"); \ + asm volatile("cli"); \ + asm volatile("push __tmp_reg__") #define portEXIT_CRITICAL() \ - asm volatile("pop __tmp_reg__"); \ - asm volatile("out __SREG__, __tmp_reg__") + asm volatile("pop __tmp_reg__"); \ + asm volatile("out __SREG__, __tmp_reg__") #define portDISABLE_INTERRUPTS() asm volatile("cli" ::); #define portENABLE_INTERRUPTS() asm volatile("sei" ::); @@ -85,7 +85,6 @@ typedef uint32_t TickType_t; #define portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ) #define portBYTE_ALIGNMENT 1 #define portNOP() asm volatile("nop"); - /*-----------------------------------------------------------*/ /* Kernel utilities. */ @@ -94,7 +93,6 @@ extern void vPortYield(void) __attribute__((naked)); extern void vPortYieldFromISR(void) __attribute__((naked)); #define portYIELD_FROM_ISR() vPortYieldFromISR() - /*-----------------------------------------------------------*/ /* Task function macros as described on the FreeRTOS.org WEB site. */ @@ -106,4 +104,3 @@ extern void vPortYieldFromISR(void) __attribute__((naked)); #endif #endif /* PORTMACRO_H */ - diff --git a/portable/IAR/AVR_AVRDx/port.c b/portable/IAR/AVR_AVRDx/port.c new file mode 100644 index 000000000..824c1aa4e --- /dev/null +++ b/portable/IAR/AVR_AVRDx/port.c @@ -0,0 +1,293 @@ +/* + * FreeRTOS Kernel V10.0.0 + * Copyright (C) 2017 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. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * 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. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the AVR port. + *----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) + +/*-----------------------------------------------------------*/ + + +#define portBYTES_USED_BY_RETURN_ADDRESS 2 +#define portNO_CRITICAL_NESTING ( ( UBaseType_t ) 0 ) + +/* Stores the critical section nesting. This must not be initialised to 0. +It will be initialised when a task starts. */ +UBaseType_t uxCriticalNesting = 0x50; +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt(void); + +/* + * The IAR compiler does not have full support for inline assembler, so + * these are defined in the portmacro assembler file. + */ +extern void vPortYieldFromTick( void ); +extern void vPortStart( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters) +{ +uint16_t usAddress; +StackType_t *pxTopOfHardwareStack; + /* Simulate how the stack would look after a call to vPortYield(). */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* The IAR compiler requires two stacks per task. First there is the + hardware call stack which uses the AVR stack pointer. Second there is the + software stack (local variables, parameter passing, etc.) which uses the + AVR Y register. + This function places both stacks within the memory block passed in as the + first parameter. The hardware stack is placed at the bottom of the memory + block. A gap is then left for the hardware stack to grow. Next the software + stack is placed. The amount of space between the software and hardware + stacks is defined by configCALL_STACK_SIZE. + The first part of the stack is the hardware stack. Place the start + address of the task on the hardware stack. */ + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + //*pxTopOfStack = 0x11; + //pxTopOfStack--; + //*pxTopOfStack = 0x22; + //pxTopOfStack--; + //*pxTopOfStack = 0x33; + //pxTopOfStack--; + + /* Remember where the top of the hardware stack is - this is required + below. */ + pxTopOfHardwareStack = pxTopOfStack; + + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Leave enough space for the hardware stack before starting the software + stack. The '- 2' is because we have already used two spaces for the + address of the start of the task. */ + pxTopOfStack -= ( configCALL_STACK_SIZE - 2 ); + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */ + pxTopOfStack--; + + /* Next place the address of the hardware stack. This is required so + the AVR stack pointer can be restored to point to the hardware stack. */ + pxTopOfHardwareStack -= portBYTES_USED_BY_RETURN_ADDRESS; + usAddress = ( uint16_t ) pxTopOfHardwareStack; + + /* SPL */ + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* SPH */ + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Now the remaining registers. */ + *pxTopOfStack = ( StackType_t ) 0x01; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = (uint16_t) pvParameters; + *pxTopOfStack = (StackType_t) (usAddress & (uint16_t) 0x00ff); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = (StackType_t) (usAddress & (uint16_t) 0x00ff); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x25; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + + /* The Y register is not stored as it is used as the software stack and + gets saved into the task control block. */ + + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + + pxTopOfStack--; + *pxTopOfStack = portNO_CRITICAL_NESTING; /* Critical nesting is zero when the task starts. */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler(void) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. + Normally we would just call portRESTORE_CONTEXT() here, but as the IAR + compiler does not fully support inline assembler we have to make a call.*/ + vPortStart(); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler(void) +{ + /* vPortEndScheduler is not implemented in this port. */ +} + +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt(void) +{ + TICK_init(); +} + +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + +__task void TICK_INT(void) +{ + vPortYieldFromTick(); + asm("reti"); +} +#else +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + +__interrupt void TICK_INT(void) +{ + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + + xTaskIncrementTick(); +} +#endif + +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} + +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + if( uxCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } +} diff --git a/portable/IAR/AVR_AVRDx/porthardware.h b/portable/IAR/AVR_AVRDx/porthardware.h new file mode 100644 index 000000000..195d881aa --- /dev/null +++ b/portable/IAR/AVR_AVRDx/porthardware.h @@ -0,0 +1,94 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#include +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect TCB4_INT_vect + #define INT_FLAGS TCB4_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB4.INTCTRL = TCB_CAPT_bm; \ + TCB4.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 5 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + + /* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() { \ + while (RTC.STATUS > 0); \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/portable/IAR/AVR_AVRDx/portmacro.h b/portable/IAR/AVR_AVRDx/portmacro.h new file mode 100644 index 000000000..555f41e10 --- /dev/null +++ b/portable/IAR/AVR_AVRDx/portmacro.h @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.0.0 + * Copyright (C) 2017 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. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * 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. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#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 int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char 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 + +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() asm( "cli" ) +#define portENABLE_INTERRUPTS() asm( "sei" ) +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH (-1) +#define portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm( "nop" ) +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield(void); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR(void); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* 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 */ diff --git a/portable/IAR/AVR_AVRDx/portmacro.s90 b/portable/IAR/AVR_AVRDx/portmacro.s90 new file mode 100644 index 000000000..70a12ec44 --- /dev/null +++ b/portable/IAR/AVR_AVRDx/portmacro.s90 @@ -0,0 +1,254 @@ +;/* +; * FreeRTOS Kernel V10.3.1 +; * 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. +; * +; * http://www.FreeRTOS.org +; * http://aws.amazon.com/freertos +; * +; * 1 tab == 4 spaces! +; */ + +#include "porthardware.h" + +; Declare all extern symbols here - including any ISRs that are referenced in +; the vector table. + +; ISR functions +; ------------- +EXTERN TICK_INT + +; Functions used by scheduler +; --------------------------- +EXTERN vTaskSwitchContext +EXTERN pxCurrentTCB +EXTERN xTaskIncrementTick +EXTERN uxCriticalNesting + +; Functions implemented in this file +; ---------------------------------- +PUBLIC vPortYield +PUBLIC vPortYieldFromTick +PUBLIC vPortYieldFromISR +PUBLIC vPortStart + +; Interrupt vector table. +; ----------------------- +; +; For simplicity the RTOS tick interrupt routine uses the __task keyword. +; As the IAR compiler does not permit a function to be declared using both +; __task and __interrupt, the use of __task necessitates that the interrupt +; vector table be setup manually. +; +; To write an ISR, implement the ISR function using the __interrupt keyword +; but do not install the interrupt using the "#pragma vector=ABC" method. +; Instead manually place the name of the ISR in the vector table using an +; ORG and jmp instruction as demonstrated below. +; You will also have to add an EXTERN statement at the top of the file. + + ASEG + + ORG TICK_INT_vect ; Vector address + jmp TICK_INT ; ISR + + RSEG CODE + +CLR_INT MACRO FLAG_REG, FLAG_MASK + st -y, r16 + ldi r16, FLAG_MASK + sts FLAG_REG, r16 + ld r16, y+ + + ENDM + +; Saving and Restoring a Task Context and Task Switching +; ------------------------------------------------------ +; +; The IAR compiler does not fully support inline assembler, so saving and +; restoring a task context has to be written in an asm file. +; +; vPortYield() and vPortYieldFromTick() are usually written in C. Doing +; so in this case would required calls to be made to portSAVE_CONTEXT() and +; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch +; function would require two extra jump and return instructions over the +; WinAVR equivalent. +; +; To avoid this I have opted to implement both vPortYield() and +; vPortYieldFromTick() in this assembly file. For convenience +; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. + +portSAVE_CONTEXT MACRO + st -y, r0 ; First save the r0 register - we need to use this. + in r0, SREG ; Obtain the SREG value so we can disable interrupts... + cli ; ... as soon as possible. + st -y, r0 ; Store the SREG as it was before we disabled interrupts. + + in r0, RAMPZ + st -y, r0 + + in r0, SPL ; Next store the hardware stack pointer. The IAR... + st -y, r0 ; ... compiler uses the hardware stack as a call stack ... + in r0, SPH ; ... only. + st -y, r0 + + st -y, r1 ; Now store the rest of the registers. Dont store the ... + st -y, r2 ; ... the Y register here as it is used as the software + st -y, r3 ; stack pointer and will get saved into the TCB. + st -y, r4 + st -y, r5 + st -y, r6 + st -y, r7 + st -y, r8 + st -y, r9 + st -y, r10 + st -y, r11 + st -y, r12 + st -y, r13 + st -y, r14 + st -y, r15 + st -y, r16 + st -y, r17 + st -y, r18 + st -y, r19 + st -y, r20 + st -y, r21 + st -y, r22 + st -y, r23 + st -y, r24 + st -y, r25 + st -y, r26 + st -y, r27 + st -y, r30 + st -y, r31 + + lds r0, uxCriticalNesting + st -y, r0 ; Store the critical nesting counter. + + lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... + lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. + st x+, r28 + st x+, r29 + + ENDM + + +portRESTORE_CONTEXT MACRO + lds r26, pxCurrentTCB + lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... + ld r28, x+ ; the TCB into the software stack pointer (... + ld r29, x+ ; ... the Y register). + + ld r0, y+ + sts uxCriticalNesting, r0 + + ld r31, y+ ; Restore the registers down to R0. The Y + ld r30, y+ ; register is missing from this list as it + ld r27, y+ ; has already been restored. + ld r26, y+ + ld r25, y+ + ld r24, y+ + ld r23, y+ + ld r22, y+ + ld r21, y+ + ld r20, y+ + ld r19, y+ + ld r18, y+ + ld r17, y+ + ld r16, y+ + ld r15, y+ + ld r14, y+ + ld r13, y+ + ld r12, y+ + ld r11, y+ + ld r10, y+ + ld r9, y+ + ld r8, y+ + ld r7, y+ + ld r6, y+ + ld r5, y+ + ld r4, y+ + ld r3, y+ + ld r2, y+ + ld r1, y+ + + ld r0, y+ ; The next thing on the stack is the ... + out SPH, r0 ; ... hardware stack pointer. + ld r0, y+ + out SPL, r0 + + ld r0, y+ + out RAMPZ, r0 + + ld r0, y+ ; Next there is the SREG register. + out SREG, r0 + + ld r0, y+ ; Finally we have finished with r0, so restore r0. + + ENDM + + + +; vPortYield(), vPortYieldFromTick() and vPortYieldFromISR() +; ------------------------------------- +; +; Manual and preemptive context switch functions respectively. +; The IAR compiler does not fully support inline assembler, +; so these are implemented here rather than the more usually +; place of within port.c. + +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +vPortYieldFromTick: + CLR_INT INT_FLAGS, INT_MASK ; Clear tick interrupt flag + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + tst r16 + breq SkipTaskSwitch + call vTaskSwitchContext ; Call the scheduler. + +SkipTaskSwitch: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +vPortYieldFromISR: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +; vPortStart() +; ------------ +; +; Again due to the lack of inline assembler, this is required +; to get access to the portRESTORE_CONTEXT macro. + +vPortStart: + portRESTORE_CONTEXT + ret + +; Just a filler for unused interrupt vectors. +vNoISR: + reti + + END diff --git a/portable/IAR/AVR_Mega0/port.c b/portable/IAR/AVR_Mega0/port.c new file mode 100644 index 000000000..9e34e1b5e --- /dev/null +++ b/portable/IAR/AVR_Mega0/port.c @@ -0,0 +1,291 @@ +/* + * FreeRTOS Kernel V10.0.0 + * Copyright (C) 2017 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. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * 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. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#include +#include "porthardware.h" +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the AVR port. + *----------------------------------------------------------*/ + +/* Start tasks with interrupts enables. */ +#define portFLAGS_INT_ENABLED ((StackType_t) 0x80) + +/*-----------------------------------------------------------*/ + + +#define portBYTES_USED_BY_RETURN_ADDRESS 2 +#define portNO_CRITICAL_NESTING ( ( UBaseType_t ) 0 ) + +/* Stores the critical section nesting. This must not be initialised to 0. +It will be initialised when a task starts. */ +UBaseType_t uxCriticalNesting = 0x50; +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt(void); + +/* + * The IAR compiler does not have full support for inline assembler, so + * these are defined in the portmacro assembler file. + */ +extern void vPortYieldFromTick( void ); +extern void vPortStart( void ); + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters) +{ +uint16_t usAddress; +StackType_t *pxTopOfHardwareStack; + /* Simulate how the stack would look after a call to vPortYield(). */ + + /*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */ + + /* The IAR compiler requires two stacks per task. First there is the + hardware call stack which uses the AVR stack pointer. Second there is the + software stack (local variables, parameter passing, etc.) which uses the + AVR Y register. + This function places both stacks within the memory block passed in as the + first parameter. The hardware stack is placed at the bottom of the memory + block. A gap is then left for the hardware stack to grow. Next the software + stack is placed. The amount of space between the software and hardware + stacks is defined by configCALL_STACK_SIZE. + The first part of the stack is the hardware stack. Place the start + address of the task on the hardware stack. */ + + /* Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging. */ + //*pxTopOfStack = 0x11; + //pxTopOfStack--; + //*pxTopOfStack = 0x22; + //pxTopOfStack--; + //*pxTopOfStack = 0x33; + //pxTopOfStack--; + + /* Remember where the top of the hardware stack is - this is required + below. */ + pxTopOfHardwareStack = pxTopOfStack; + + usAddress = ( uint16_t ) pxCode; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Leave enough space for the hardware stack before starting the software + stack. The '- 2' is because we have already used two spaces for the + address of the start of the task. */ + pxTopOfStack -= ( configCALL_STACK_SIZE - 2 ); + + /* Next simulate the stack as if after a call to portSAVE_CONTEXT(). + portSAVE_CONTEXT places the flags on the stack immediately after r0 + to ensure the interrupts get disabled as soon as possible, and so ensuring + the stack use is minimal should a context switch interrupt occur. */ + *pxTopOfStack = ( StackType_t ) 0x00; /* R0 */ + pxTopOfStack--; + *pxTopOfStack = portFLAGS_INT_ENABLED; + pxTopOfStack--; + + /* Next place the address of the hardware stack. This is required so + the AVR stack pointer can be restored to point to the hardware stack. */ + pxTopOfHardwareStack -= portBYTES_USED_BY_RETURN_ADDRESS; + usAddress = ( uint16_t ) pxTopOfHardwareStack; + + /* SPL */ + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* SPH */ + usAddress >>= 8; + *pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff ); + pxTopOfStack--; + + /* Now the remaining registers. */ + *pxTopOfStack = ( StackType_t ) 0x01; /* R1 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x02; /* R2 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x03; /* R3 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x04; /* R4 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x05; /* R5 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x06; /* R6 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x07; /* R7 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x08; /* R8 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x09; /* R9 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x10; /* R10 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x11; /* R11 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x12; /* R12 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x13; /* R13 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x14; /* R14 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x15; /* R15 */ + pxTopOfStack--; + + /* Place the parameter on the stack in the expected location. */ + usAddress = (uint16_t) pvParameters; + *pxTopOfStack = (StackType_t) (usAddress & (uint16_t) 0x00ff); + pxTopOfStack--; + + usAddress >>= 8; + *pxTopOfStack = (StackType_t) (usAddress & (uint16_t) 0x00ff); + pxTopOfStack--; + + *pxTopOfStack = ( StackType_t ) 0x18; /* R18 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x19; /* R19 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x20; /* R20 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x21; /* R21 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x22; /* R22 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x23; /* R23 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x24; /* R24 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x25; /* R25 */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x27; /* R27 */ + pxTopOfStack--; + + /* The Y register is not stored as it is used as the software stack and + gets saved into the task control block. */ + + *pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */ + pxTopOfStack--; + *pxTopOfStack = ( StackType_t ) 0x031; /* R31 */ + + pxTopOfStack--; + *pxTopOfStack = portNO_CRITICAL_NESTING; /* Critical nesting is zero when the task starts. */ + + /*lint +e950 +e611 +e923 */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +BaseType_t xPortStartScheduler(void) +{ + /* Setup the hardware to generate the tick. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task that is going to run. + Normally we would just call portRESTORE_CONTEXT() here, but as the IAR + compiler does not fully support inline assembler we have to make a call.*/ + vPortStart(); + + /* Should not get here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler(void) +{ + /* vPortEndScheduler is not implemented in this port. */ +} + +/*-----------------------------------------------------------*/ + +/* + * Setup timer to generate a tick interrupt. + */ +static void prvSetupTimerInterrupt(void) +{ + TICK_init(); +} + +/*-----------------------------------------------------------*/ + +#if configUSE_PREEMPTION == 1 +/* + * Tick ISR for preemptive scheduler. We can use a naked attribute as + * the context is saved at the start of vPortYieldFromTick(). The tick + * count is incremented after the context is saved. + */ + +__task void TICK_INT(void) +{ + vPortYieldFromTick(); + asm("reti"); +} +#else +/* + * Tick ISR for the cooperative scheduler. All this does is increment the + * tick count. We don't need to switch context, this can only be done by + * manual calls to taskYIELD(); + */ + +__interrupt void TICK_INT(void) +{ + /* Clear tick interrupt flag. */ + INT_FLAGS = INT_MASK; + + xTaskIncrementTick(); +} +#endif + +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} + +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + if( uxCriticalNesting == portNO_CRITICAL_NESTING ) + { + portENABLE_INTERRUPTS(); + } +} diff --git a/portable/IAR/AVR_Mega0/porthardware.h b/portable/IAR/AVR_Mega0/porthardware.h new file mode 100644 index 000000000..5468bdabe --- /dev/null +++ b/portable/IAR/AVR_Mega0/porthardware.h @@ -0,0 +1,82 @@ +#ifndef PORTHARDWARE_H +#define PORTHARDWARE_H + +#include +#include "FreeRTOSConfig.h" + +/*-----------------------------------------------------------*/ + +#if ( configUSE_TIMER_INSTANCE == 0 ) + + #define TICK_INT_vect TCB0_INT_vect + #define INT_FLAGS TCB0_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB0.INTCTRL = TCB_CAPT_bm; \ + TCB0.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 1 ) + + #define TICK_INT_vect TCB1_INT_vect + #define INT_FLAGS TCB1_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB1.INTCTRL = TCB_CAPT_bm; \ + TCB1.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 2 ) + + #define TICK_INT_vect TCB2_INT_vect + #define INT_FLAGS TCB2_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB2.INTCTRL = TCB_CAPT_bm; \ + TCB2.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 3 ) + + #define TICK_INT_vect TCB3_INT_vect + #define INT_FLAGS TCB3_INTFLAGS + #define INT_MASK TCB_CAPT_bm + + #define TICK_init() { \ + TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \ + TCB3.INTCTRL = TCB_CAPT_bm; \ + TCB3.CTRLA = TCB_ENABLE_bm; \ + } + +#elif ( configUSE_TIMER_INSTANCE == 4 ) + + #define TICK_INT_vect RTC_CNT_vect + #define INT_FLAGS RTC_INTFLAGS + #define INT_MASK RTC_OVF_bm + + /* Hertz to period for RTC setup */ + #define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) ) + #define TICK_init() { \ + while (RTC.STATUS > 0); \ + RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \ + RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \ + RTC.INTCTRL |= 1 << RTC_OVF_bp; \ + } + +#else + #undef TICK_INT_vect + #undef INT_FLAGS + #undef INT_MASK + #undef TICK_init() + #error Invalid timer setting. +#endif + +/*-----------------------------------------------------------*/ + +#endif /* PORTHARDWARE_H */ diff --git a/portable/IAR/AVR_Mega0/portmacro.h b/portable/IAR/AVR_Mega0/portmacro.h new file mode 100644 index 000000000..555f41e10 --- /dev/null +++ b/portable/IAR/AVR_Mega0/portmacro.h @@ -0,0 +1,105 @@ +/* + * FreeRTOS Kernel V10.0.0 + * Copyright (C) 2017 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. If you wish to use our Amazon + * FreeRTOS name, please do so in a fair use way that does not cause confusion. + * + * 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. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#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 int +#define portSTACK_TYPE uint8_t +#define portBASE_TYPE char + +#define portPOINTER_SIZE_TYPE uint16_t + +typedef portSTACK_TYPE StackType_t; +typedef signed char BaseType_t; +typedef unsigned char 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 + +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() + +#define portDISABLE_INTERRUPTS() asm( "cli" ) +#define portENABLE_INTERRUPTS() asm( "sei" ) +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH (-1) +#define portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ) +#define portBYTE_ALIGNMENT 1 +#define portNOP() asm( "nop" ) +/*-----------------------------------------------------------*/ + +/* Kernel utilities. */ +extern void vPortYield(void); +#define portYIELD() vPortYield() + +extern void vPortYieldFromISR(void); +#define portYIELD_FROM_ISR() vPortYieldFromISR() +/*-----------------------------------------------------------*/ + +/* 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 */ diff --git a/portable/IAR/AVR_Mega0/portmacro.s90 b/portable/IAR/AVR_Mega0/portmacro.s90 new file mode 100644 index 000000000..4b117d7b6 --- /dev/null +++ b/portable/IAR/AVR_Mega0/portmacro.s90 @@ -0,0 +1,248 @@ +;/* +; * FreeRTOS Kernel V10.3.1 +; * 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. +; * +; * http://www.FreeRTOS.org +; * http://aws.amazon.com/freertos +; * +; * 1 tab == 4 spaces! +; */ + +#include "porthardware.h" + +; Declare all extern symbols here - including any ISRs that are referenced in +; the vector table. + +; ISR functions +; ------------- +EXTERN TICK_INT + +; Functions used by scheduler +; --------------------------- +EXTERN vTaskSwitchContext +EXTERN pxCurrentTCB +EXTERN xTaskIncrementTick +EXTERN uxCriticalNesting + +; Functions implemented in this file +; ---------------------------------- +PUBLIC vPortYield +PUBLIC vPortYieldFromTick +PUBLIC vPortYieldFromISR +PUBLIC vPortStart + +; Interrupt vector table. +; ----------------------- +; +; For simplicity the RTOS tick interrupt routine uses the __task keyword. +; As the IAR compiler does not permit a function to be declared using both +; __task and __interrupt, the use of __task necessitates that the interrupt +; vector table be setup manually. +; +; To write an ISR, implement the ISR function using the __interrupt keyword +; but do not install the interrupt using the "#pragma vector=ABC" method. +; Instead manually place the name of the ISR in the vector table using an +; ORG and jmp instruction as demonstrated below. +; You will also have to add an EXTERN statement at the top of the file. + + ASEG + + ORG TICK_INT_vect ; Vector address + jmp TICK_INT ; ISR + + RSEG CODE + +CLR_INT MACRO FLAG_REG, FLAG_MASK + st -y, r16 + ldi r16, FLAG_MASK + sts FLAG_REG, r16 + ld r16, y+ + + ENDM + +; Saving and Restoring a Task Context and Task Switching +; ------------------------------------------------------ +; +; The IAR compiler does not fully support inline assembler, so saving and +; restoring a task context has to be written in an asm file. +; +; vPortYield() and vPortYieldFromTick() are usually written in C. Doing +; so in this case would required calls to be made to portSAVE_CONTEXT() and +; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch +; function would require two extra jump and return instructions over the +; WinAVR equivalent. +; +; To avoid this I have opted to implement both vPortYield() and +; vPortYieldFromTick() in this assembly file. For convenience +; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. + +portSAVE_CONTEXT MACRO + st -y, r0 ; First save the r0 register - we need to use this. + in r0, SREG ; Obtain the SREG value so we can disable interrupts... + cli ; ... as soon as possible. + st -y, r0 ; Store the SREG as it was before we disabled interrupts. + + in r0, SPL ; Next store the hardware stack pointer. The IAR... + st -y, r0 ; ... compiler uses the hardware stack as a call stack ... + in r0, SPH ; ... only. + st -y, r0 + + st -y, r1 ; Now store the rest of the registers. Dont store the ... + st -y, r2 ; ... the Y register here as it is used as the software + st -y, r3 ; stack pointer and will get saved into the TCB. + st -y, r4 + st -y, r5 + st -y, r6 + st -y, r7 + st -y, r8 + st -y, r9 + st -y, r10 + st -y, r11 + st -y, r12 + st -y, r13 + st -y, r14 + st -y, r15 + st -y, r16 + st -y, r17 + st -y, r18 + st -y, r19 + st -y, r20 + st -y, r21 + st -y, r22 + st -y, r23 + st -y, r24 + st -y, r25 + st -y, r26 + st -y, r27 + st -y, r30 + st -y, r31 + + lds r0, uxCriticalNesting + st -y, r0 ; Store the critical nesting counter. + + lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... + lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. + st x+, r28 + st x+, r29 + + ENDM + + +portRESTORE_CONTEXT MACRO + lds r26, pxCurrentTCB + lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... + ld r28, x+ ; the TCB into the software stack pointer (... + ld r29, x+ ; ... the Y register). + + ld r0, y+ + sts uxCriticalNesting, r0 + + ld r31, y+ ; Restore the registers down to R0. The Y + ld r30, y+ ; register is missing from this list as it + ld r27, y+ ; has already been restored. + ld r26, y+ + ld r25, y+ + ld r24, y+ + ld r23, y+ + ld r22, y+ + ld r21, y+ + ld r20, y+ + ld r19, y+ + ld r18, y+ + ld r17, y+ + ld r16, y+ + ld r15, y+ + ld r14, y+ + ld r13, y+ + ld r12, y+ + ld r11, y+ + ld r10, y+ + ld r9, y+ + ld r8, y+ + ld r7, y+ + ld r6, y+ + ld r5, y+ + ld r4, y+ + ld r3, y+ + ld r2, y+ + ld r1, y+ + + ld r0, y+ ; The next thing on the stack is the ... + out SPH, r0 ; ... hardware stack pointer. + ld r0, y+ + out SPL, r0 + + ld r0, y+ ; Next there is the SREG register. + out SREG, r0 + + ld r0, y+ ; Finally we have finished with r0, so restore r0. + + ENDM + + + +; vPortYield(), vPortYieldFromTick() and vPortYieldFromISR() +; ------------------------------------- +; +; Manual and preemptive context switch functions respectively. +; The IAR compiler does not fully support inline assembler, +; so these are implemented here rather than the more usually +; place of within port.c. + +vPortYield: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + ret ; ... scheduler decided should run. + +vPortYieldFromTick: + CLR_INT INT_FLAGS, INT_MASK ; Clear tick interrupt flag + + portSAVE_CONTEXT ; Save the context of the current task. + call xTaskIncrementTick ; Call the timer tick function. + tst r16 + breq SkipTaskSwitch + call vTaskSwitchContext ; Call the scheduler. + +SkipTaskSwitch: + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +vPortYieldFromISR: + portSAVE_CONTEXT ; Save the context of the current task. + call vTaskSwitchContext ; Call the scheduler. + portRESTORE_CONTEXT ; Restore the context of whichever task the ... + reti ; ... scheduler decided should run. + +; vPortStart() +; ------------ +; +; Again due to the lack of inline assembler, this is required +; to get access to the portRESTORE_CONTEXT macro. + +vPortStart: + portRESTORE_CONTEXT + ret + +; Just a filler for unused interrupt vectors. +vNoISR: + reti + +END