mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-06-06 12:29:03 -04:00
Update to AVR_Mega0 and AVR_Dx GCC ports + addition of their IAR equivalents (#106)
* Removed TICK_stop() macro from portable/GCC/{AVR_AVRDx, AVR_Mega0}/porthardware.h because it is not used anywhere.
* Updated indentation in portable/GCC/{AVR_AVRDx, AVR_Mega0}/* files.
* Added portable/IAR/{AVR_AVRDx, AVR_Mega0 folders.
This commit is contained in:
m17336
GitHub
parent
bda9869271
commit
a2e00f0c6b
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@ -38,7 +38,7 @@
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*----------------------------------------------------------*/
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*----------------------------------------------------------*/
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/* Start tasks with interrupts enables. */
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/* Start tasks with interrupts enables. */
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#define portFLAGS_INT_ENABLED ((StackType_t) 0x80)
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#define portFLAGS_INT_ENABLED ((StackType_t) 0x80)
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -63,103 +63,102 @@ extern volatile RTOS_TCB_t *volatile pxCurrentTCB;
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*
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*
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* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
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* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
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* so we need not worry about reading/writing to the stack pointer.
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* so we need not worry about reading/writing to the stack pointer.
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*/
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*/
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#define portSAVE_CONTEXT() \
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#define portSAVE_CONTEXT() \
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asm volatile("push r0 \n\t" \
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asm volatile("push r0 \n\t" \
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"in r0, __SREG__ \n\t" \
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"in r0, __SREG__ \n\t" \
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"cli \n\t" \
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"cli \n\t" \
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"push r0 \n\t" \
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"push r0 \n\t" \
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"in r0, __RAMPZ__ \n\t" \
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"in r0, __RAMPZ__ \n\t" \
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"push r0 \n\t" \
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"push r0 \n\t" \
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"push r1 \n\t" \
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"push r1 \n\t" \
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"clr r1 \n\t" \
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"clr r1 \n\t" \
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"push r2 \n\t" \
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"push r2 \n\t" \
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"push r3 \n\t" \
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"push r3 \n\t" \
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"push r4 \n\t" \
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"push r4 \n\t" \
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"push r5 \n\t" \
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"push r5 \n\t" \
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"push r6 \n\t" \
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"push r6 \n\t" \
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"push r7 \n\t" \
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"push r7 \n\t" \
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"push r8 \n\t" \
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"push r8 \n\t" \
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"push r9 \n\t" \
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"push r9 \n\t" \
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"push r10 \n\t" \
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"push r10 \n\t" \
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"push r11 \n\t" \
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"push r11 \n\t" \
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"push r12 \n\t" \
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"push r12 \n\t" \
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"push r13 \n\t" \
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"push r13 \n\t" \
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"push r14 \n\t" \
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"push r14 \n\t" \
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"push r15 \n\t" \
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"push r15 \n\t" \
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"push r16 \n\t" \
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"push r16 \n\t" \
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"push r17 \n\t" \
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"push r17 \n\t" \
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"push r18 \n\t" \
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"push r18 \n\t" \
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"push r19 \n\t" \
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"push r19 \n\t" \
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"push r20 \n\t" \
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"push r20 \n\t" \
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"push r21 \n\t" \
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"push r21 \n\t" \
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"push r22 \n\t" \
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"push r22 \n\t" \
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"push r23 \n\t" \
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"push r23 \n\t" \
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"push r24 \n\t" \
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"push r24 \n\t" \
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"push r25 \n\t" \
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"push r25 \n\t" \
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"push r26 \n\t" \
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"push r26 \n\t" \
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"push r27 \n\t" \
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"push r27 \n\t" \
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"push r28 \n\t" \
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"push r28 \n\t" \
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"push r29 \n\t" \
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"push r29 \n\t" \
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"push r30 \n\t" \
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"push r30 \n\t" \
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"push r31 \n\t" \
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"push r31 \n\t" \
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"lds r26, pxCurrentTCB \n\t" \
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"lds r26, pxCurrentTCB \n\t" \
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"lds r27, pxCurrentTCB + 1 \n\t" \
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"lds r27, pxCurrentTCB + 1 \n\t" \
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"in r0, __SP_L__ \n\t" \
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"in r0, __SP_L__ \n\t" \
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"st x+, r0 \n\t" \
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"st x+, r0 \n\t" \
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"in r0, __SP_H__ \n\t" \
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"in r0, __SP_H__ \n\t" \
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"st x+, r0 \n\t");
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"st x+, r0 \n\t");
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/*
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/*
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* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
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* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
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* the context save so we can write to the stack pointer.
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* the context save so we can write to the stack pointer.
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*/
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*/
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#define portRESTORE_CONTEXT() \
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#define portRESTORE_CONTEXT() \
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asm volatile("lds r26, pxCurrentTCB \n\t" \
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asm volatile("lds r26, pxCurrentTCB \n\t" \
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"lds r27, pxCurrentTCB + 1 \n\t" \
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"lds r27, pxCurrentTCB + 1 \n\t" \
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"ld r28, x+ \n\t" \
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"ld r28, x+ \n\t" \
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"out __SP_L__, r28 \n\t" \
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"out __SP_L__, r28 \n\t" \
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"ld r29, x+ \n\t" \
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"ld r29, x+ \n\t" \
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"out __SP_H__, r29 \n\t" \
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"out __SP_H__, r29 \n\t" \
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"pop r31 \n\t" \
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"pop r31 \n\t" \
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"pop r30 \n\t" \
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"pop r30 \n\t" \
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"pop r29 \n\t" \
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"pop r29 \n\t" \
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"pop r28 \n\t" \
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"pop r28 \n\t" \
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"pop r27 \n\t" \
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"pop r27 \n\t" \
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"pop r26 \n\t" \
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"pop r26 \n\t" \
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"pop r25 \n\t" \
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"pop r25 \n\t" \
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"pop r24 \n\t" \
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"pop r24 \n\t" \
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"pop r23 \n\t" \
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"pop r23 \n\t" \
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"pop r22 \n\t" \
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"pop r22 \n\t" \
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"pop r21 \n\t" \
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"pop r21 \n\t" \
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"pop r20 \n\t" \
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"pop r20 \n\t" \
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"pop r19 \n\t" \
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"pop r19 \n\t" \
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"pop r18 \n\t" \
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"pop r18 \n\t" \
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"pop r17 \n\t" \
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"pop r17 \n\t" \
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"pop r16 \n\t" \
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"pop r16 \n\t" \
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"pop r15 \n\t" \
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"pop r15 \n\t" \
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"pop r14 \n\t" \
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"pop r14 \n\t" \
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"pop r13 \n\t" \
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"pop r13 \n\t" \
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"pop r12 \n\t" \
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"pop r12 \n\t" \
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"pop r11 \n\t" \
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"pop r11 \n\t" \
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"pop r10 \n\t" \
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"pop r10 \n\t" \
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"pop r9 \n\t" \
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"pop r9 \n\t" \
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"pop r8 \n\t" \
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"pop r8 \n\t" \
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"pop r7 \n\t" \
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"pop r7 \n\t" \
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"pop r6 \n\t" \
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"pop r6 \n\t" \
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"pop r5 \n\t" \
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"pop r5 \n\t" \
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"pop r4 \n\t" \
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"pop r4 \n\t" \
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"pop r3 \n\t" \
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"pop r3 \n\t" \
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"pop r2 \n\t" \
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"pop r2 \n\t" \
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"pop r1 \n\t" \
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"pop r1 \n\t" \
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"pop r0 \n\t" \
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"pop r0 \n\t" \
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"out __RAMPZ__, r0 \n\t" \
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"out __RAMPZ__, r0 \n\t" \
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"pop r0 \n\t" \
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"pop r0 \n\t" \
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"out __SREG__, r0 \n\t" \
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"out __SREG__, r0 \n\t" \
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"pop r0 \n\t");
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"pop r0 \n\t");
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -174,11 +173,11 @@ static void prvSetupTimerInterrupt(void);
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*/
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*/
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StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
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StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
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{
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{
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uint16_t usAddress;
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uint16_t usAddress;
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/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
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/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
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/* Place a few bytes of known values on the bottom of the stack.
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/* Place a few bytes of known values on the bottom of the stack.
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This is just useful for debugging. Uncomment if needed. */
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This is just useful for debugging. Uncomment if needed. */
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// *pxTopOfStack = 0x11;
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// *pxTopOfStack = 0x11;
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// pxTopOfStack--;
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// pxTopOfStack--;
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@ -187,70 +186,70 @@ StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxC
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// *pxTopOfStack = 0x33;
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// *pxTopOfStack = 0x33;
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// pxTopOfStack--;
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// pxTopOfStack--;
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/* The start of the task code will be popped off the stack last, so place
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/* The start of the task code will be popped off the stack last, so place
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it on first. */
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it on first. */
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usAddress = (uint16_t)pxCode;
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usAddress = (uint16_t)pxCode;
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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pxTopOfStack--;
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pxTopOfStack--;
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usAddress >>= 8;
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usAddress >>= 8;
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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pxTopOfStack--;
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pxTopOfStack--;
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/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
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/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
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portSAVE_CONTEXT places the flags on the stack immediately after r0
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portSAVE_CONTEXT places the flags on the stack immediately after r0
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to ensure the interrupts get disabled as soon as possible, and so ensuring
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to ensure the interrupts get disabled as soon as possible, and so ensuring
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the stack use is minimal should a context switch interrupt occur. */
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the stack use is minimal should a context switch interrupt occur. */
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*pxTopOfStack = (StackType_t)0x00; /* R0 */
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*pxTopOfStack = (StackType_t)0x00; /* R0 */
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pxTopOfStack--;
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pxTopOfStack--;
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*pxTopOfStack = portFLAGS_INT_ENABLED;
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*pxTopOfStack = portFLAGS_INT_ENABLED;
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pxTopOfStack--;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */
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*pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */
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pxTopOfStack--;
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pxTopOfStack--;
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/* Now the remaining registers. The compiler expects R1 to be 0. */
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/* Now the remaining registers. The compiler expects R1 to be 0. */
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*pxTopOfStack = (StackType_t)0x00; /* R1 */
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*pxTopOfStack = (StackType_t)0x00; /* R1 */
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/* Leave R2 - R23 untouched */
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/* Leave R2 - R23 untouched */
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pxTopOfStack -= 23;
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pxTopOfStack -= 23;
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/* Place the parameter on the stack in the expected location. */
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/* Place the parameter on the stack in the expected location. */
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usAddress = (uint16_t)pvParameters;
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usAddress = (uint16_t)pvParameters;
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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pxTopOfStack--;
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pxTopOfStack--;
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usAddress >>= 8;
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usAddress >>= 8;
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
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/* Leave register R26 - R31 untouched */
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/* Leave register R26 - R31 untouched */
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pxTopOfStack -= 7;
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pxTopOfStack -= 7;
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/*lint +e950 +e611 +e923 */
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/*lint +e950 +e611 +e923 */
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return pxTopOfStack;
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return pxTopOfStack;
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler(void)
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BaseType_t xPortStartScheduler(void)
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{
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{
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/* Setup the hardware to generate the tick. */
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/* Setup the hardware to generate the tick. */
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prvSetupTimerInterrupt();
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prvSetupTimerInterrupt();
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/* Restore the context of the first task that is going to run. */
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/* Restore the context of the first task that is going to run. */
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portRESTORE_CONTEXT();
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portRESTORE_CONTEXT();
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/* Simulate a function call end as generated by the compiler. We will now
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/* Simulate a function call end as generated by the compiler. We will now
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jump to the start of the task the context of which we have just restored. */
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jump to the start of the task the context of which we have just restored. */
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asm volatile("ret");
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asm volatile("ret");
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/* Should not get here. */
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/* Should not get here. */
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return pdTRUE;
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return pdTRUE;
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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void vPortEndScheduler(void)
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void vPortEndScheduler(void)
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{
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{
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/* vPortEndScheduler is not implemented in this port. */
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/* vPortEndScheduler is not implemented in this port. */
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -261,10 +260,10 @@ void vPortEndScheduler(void)
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void vPortYield(void) __attribute__((naked));
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void vPortYield(void) __attribute__((naked));
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void vPortYield(void)
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void vPortYield(void)
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{
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{
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portSAVE_CONTEXT();
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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portRESTORE_CONTEXT();
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asm volatile("ret");
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asm volatile("ret");
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -275,10 +274,10 @@ void vPortYield(void)
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void vPortYieldFromISR(void) __attribute__((naked));
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void vPortYieldFromISR(void) __attribute__((naked));
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void vPortYieldFromISR(void)
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void vPortYieldFromISR(void)
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{
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{
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portSAVE_CONTEXT();
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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portRESTORE_CONTEXT();
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asm volatile("reti");
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asm volatile("reti");
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -291,15 +290,14 @@ void vPortYieldFromISR(void)
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void vPortYieldFromTick(void) __attribute__((naked));
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void vPortYieldFromTick(void) __attribute__((naked));
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void vPortYieldFromTick(void)
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void vPortYieldFromTick(void)
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{
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{
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portSAVE_CONTEXT();
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portSAVE_CONTEXT();
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if (xTaskIncrementTick() != pdFALSE) {
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vTaskSwitchContext();
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}
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if (xTaskIncrementTick() != pdFALSE) {
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portRESTORE_CONTEXT();
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vTaskSwitchContext();
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}
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portRESTORE_CONTEXT();
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asm volatile("reti");
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asm volatile("reti");
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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@ -308,7 +306,7 @@ void vPortYieldFromTick(void)
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*/
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*/
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static void prvSetupTimerInterrupt(void)
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static void prvSetupTimerInterrupt(void)
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{
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{
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TICK_init();
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TICK_init();
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}
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}
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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|
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@ -319,17 +317,15 @@ static void prvSetupTimerInterrupt(void)
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* the context is saved at the start of vPortYieldFromTick(). The tick
|
* the context is saved at the start of vPortYieldFromTick(). The tick
|
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* count is incremented after the context is saved.
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* count is incremented after the context is saved.
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*/
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*/
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ISR(TICK_INT_vect, ISR_NAKED)
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ISR(TICK_INT_vect, ISR_NAKED)
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{
|
{
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/* Clear tick interrupt flag. */
|
/* Clear tick interrupt flag. */
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CLR_INT(INT_FLAGS, INT_MASK);
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CLR_INT(INT_FLAGS, INT_MASK);
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vPortYieldFromTick();
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vPortYieldFromTick();
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|
||||||
asm volatile("reti");
|
asm volatile("reti");
|
||||||
}
|
}
|
||||||
|
|
||||||
#else
|
#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
|
* tick count. We don't need to switch context, this can only be done by
|
||||||
* manual calls to taskYIELD();
|
* manual calls to taskYIELD();
|
||||||
*/
|
*/
|
||||||
|
|
||||||
ISR(TICK_INT_vect)
|
ISR(TICK_INT_vect)
|
||||||
{
|
{
|
||||||
/* Clear tick interrupt flag. */
|
/* Clear tick interrupt flag. */
|
||||||
INT_FLAGS = INT_MASK;
|
INT_FLAGS = INT_MASK;
|
||||||
|
xTaskIncrementTick();
|
||||||
xTaskIncrementTick();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -6,126 +6,96 @@
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
#define CLR_INT(FLAG_REG, FLAG_MASK) \
|
#define CLR_INT(FLAG_REG, FLAG_MASK) \
|
||||||
asm volatile( "push r16\n\t" \
|
asm volatile( \
|
||||||
"ldi r16, %1\n\t" \
|
"push r16\n\t" \
|
||||||
"sts %0, r16\n\t" \
|
"ldi r16, %1\n\t" \
|
||||||
"pop r16\n\t" \
|
"sts %0, r16\n\t" \
|
||||||
: \
|
"pop r16\n\t" \
|
||||||
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
|
: \
|
||||||
);
|
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
|
||||||
|
);
|
||||||
|
|
||||||
#if ( configUSE_TIMER_INSTANCE == 0 )
|
#if ( configUSE_TIMER_INSTANCE == 0 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB0_INT_vect
|
#define TICK_INT_vect TCB0_INT_vect
|
||||||
#define INT_FLAGS TCB0_INTFLAGS
|
#define INT_FLAGS TCB0_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB0.INTCTRL = TCB_CAPT_bm; \
|
TCB0.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB0.CTRLA = TCB_ENABLE_bm; \
|
TCB0.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB0.INTCTRL &= ~TCB_CAPT_bm;\
|
|
||||||
TCB0.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 1 )
|
#elif ( configUSE_TIMER_INSTANCE == 1 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB1_INT_vect
|
#define TICK_INT_vect TCB1_INT_vect
|
||||||
#define INT_FLAGS TCB1_INTFLAGS
|
#define INT_FLAGS TCB1_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB1.INTCTRL = TCB_CAPT_bm; \
|
TCB1.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB1.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB1.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB2_INT_vect
|
#define TICK_INT_vect TCB2_INT_vect
|
||||||
#define INT_FLAGS TCB2_INTFLAGS
|
#define INT_FLAGS TCB2_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB2.INTCTRL = TCB_CAPT_bm; \
|
TCB2.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB2.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB2.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB3_INT_vect
|
#define TICK_INT_vect TCB3_INT_vect
|
||||||
#define INT_FLAGS TCB3_INTFLAGS
|
#define INT_FLAGS TCB3_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB3.INTCTRL = TCB_CAPT_bm; \
|
TCB3.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB3.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB3.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB4_INT_vect
|
#define TICK_INT_vect TCB4_INT_vect
|
||||||
#define INT_FLAGS TCB4_INTFLAGS
|
#define INT_FLAGS TCB4_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB4.INTCTRL = TCB_CAPT_bm; \
|
TCB4.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB4.CTRLA = TCB_ENABLE_bm; \
|
TCB4.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB4.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB4.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 5 )
|
#elif ( configUSE_TIMER_INSTANCE == 5 )
|
||||||
|
|
||||||
/* Hertz to period for RTC setup */
|
#define TICK_INT_vect RTC_CNT_vect
|
||||||
#define RTC_PERIOD_HZ(x) (32768 * ((1.0 / x)))
|
#define INT_FLAGS RTC_INTFLAGS
|
||||||
|
#define INT_MASK RTC_OVF_bm
|
||||||
|
|
||||||
#define TICK_INT_vect RTC_CNT_vect
|
/* Hertz to period for RTC setup */
|
||||||
#define INT_FLAGS RTC_INTFLAGS
|
#define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) )
|
||||||
#define INT_MASK RTC_OVF_bm
|
#define TICK_init() { \
|
||||||
|
while (RTC.STATUS > 0); \
|
||||||
#define TICK_init() { \
|
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
||||||
while (RTC.STATUS > 0); \
|
RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \
|
||||||
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
RTC.INTCTRL |= 1 << RTC_OVF_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); \
|
|
||||||
}
|
|
||||||
|
|
||||||
#else
|
#else
|
||||||
#undef TICK_INT_vect
|
#undef TICK_INT_vect
|
||||||
#undef INT_FLAGS
|
#undef INT_FLAGS
|
||||||
#undef INT_MASK
|
#undef INT_MASK
|
||||||
#undef TICK_init()
|
#undef TICK_init()
|
||||||
#error Invalid timer setting.
|
#error Invalid timer setting.
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
|
||||||
|
|
@ -64,18 +64,17 @@ typedef uint16_t TickType_t;
|
||||||
typedef uint32_t TickType_t;
|
typedef uint32_t TickType_t;
|
||||||
#define portMAX_DELAY (TickType_t)0xffffffffUL
|
#define portMAX_DELAY (TickType_t)0xffffffffUL
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
/* Critical section management. */
|
/* Critical section management. */
|
||||||
#define portENTER_CRITICAL() \
|
#define portENTER_CRITICAL() \
|
||||||
asm volatile("in __tmp_reg__, __SREG__"); \
|
asm volatile("in __tmp_reg__, __SREG__"); \
|
||||||
asm volatile("cli"); \
|
asm volatile("cli"); \
|
||||||
asm volatile("push __tmp_reg__")
|
asm volatile("push __tmp_reg__")
|
||||||
|
|
||||||
#define portEXIT_CRITICAL() \
|
#define portEXIT_CRITICAL() \
|
||||||
asm volatile("pop __tmp_reg__"); \
|
asm volatile("pop __tmp_reg__"); \
|
||||||
asm volatile("out __SREG__, __tmp_reg__")
|
asm volatile("out __SREG__, __tmp_reg__")
|
||||||
|
|
||||||
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
|
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
|
||||||
#define portENABLE_INTERRUPTS() asm volatile("sei" ::);
|
#define portENABLE_INTERRUPTS() asm volatile("sei" ::);
|
||||||
|
|
|
||||||
|
|
@ -29,9 +29,7 @@
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
|
|
||||||
#include <avr/interrupt.h>
|
#include <avr/interrupt.h>
|
||||||
|
|
||||||
#include "porthardware.h"
|
#include "porthardware.h"
|
||||||
|
|
||||||
#include "FreeRTOS.h"
|
#include "FreeRTOS.h"
|
||||||
#include "task.h"
|
#include "task.h"
|
||||||
|
|
||||||
|
|
@ -40,7 +38,7 @@
|
||||||
*----------------------------------------------------------*/
|
*----------------------------------------------------------*/
|
||||||
|
|
||||||
/* Start tasks with interrupts enables. */
|
/* 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.
|
* so we need not worry about reading/writing to the stack pointer.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#define portSAVE_CONTEXT() \
|
#define portSAVE_CONTEXT() \
|
||||||
asm volatile("push r0 \n\t" \
|
asm volatile("push r0 \n\t" \
|
||||||
"in r0, __SREG__ \n\t" \
|
"in r0, __SREG__ \n\t" \
|
||||||
"cli \n\t" \
|
"cli \n\t" \
|
||||||
"push r0 \n\t" \
|
"push r0 \n\t" \
|
||||||
"push r1 \n\t" \
|
"push r1 \n\t" \
|
||||||
"clr r1 \n\t" \
|
"clr r1 \n\t" \
|
||||||
"push r2 \n\t" \
|
"push r2 \n\t" \
|
||||||
"push r3 \n\t" \
|
"push r3 \n\t" \
|
||||||
"push r4 \n\t" \
|
"push r4 \n\t" \
|
||||||
"push r5 \n\t" \
|
"push r5 \n\t" \
|
||||||
"push r6 \n\t" \
|
"push r6 \n\t" \
|
||||||
"push r7 \n\t" \
|
"push r7 \n\t" \
|
||||||
"push r8 \n\t" \
|
"push r8 \n\t" \
|
||||||
"push r9 \n\t" \
|
"push r9 \n\t" \
|
||||||
"push r10 \n\t" \
|
"push r10 \n\t" \
|
||||||
"push r11 \n\t" \
|
"push r11 \n\t" \
|
||||||
"push r12 \n\t" \
|
"push r12 \n\t" \
|
||||||
"push r13 \n\t" \
|
"push r13 \n\t" \
|
||||||
"push r14 \n\t" \
|
"push r14 \n\t" \
|
||||||
"push r15 \n\t" \
|
"push r15 \n\t" \
|
||||||
"push r16 \n\t" \
|
"push r16 \n\t" \
|
||||||
"push r17 \n\t" \
|
"push r17 \n\t" \
|
||||||
"push r18 \n\t" \
|
"push r18 \n\t" \
|
||||||
"push r19 \n\t" \
|
"push r19 \n\t" \
|
||||||
"push r20 \n\t" \
|
"push r20 \n\t" \
|
||||||
"push r21 \n\t" \
|
"push r21 \n\t" \
|
||||||
"push r22 \n\t" \
|
"push r22 \n\t" \
|
||||||
"push r23 \n\t" \
|
"push r23 \n\t" \
|
||||||
"push r24 \n\t" \
|
"push r24 \n\t" \
|
||||||
"push r25 \n\t" \
|
"push r25 \n\t" \
|
||||||
"push r26 \n\t" \
|
"push r26 \n\t" \
|
||||||
"push r27 \n\t" \
|
"push r27 \n\t" \
|
||||||
"push r28 \n\t" \
|
"push r28 \n\t" \
|
||||||
"push r29 \n\t" \
|
"push r29 \n\t" \
|
||||||
"push r30 \n\t" \
|
"push r30 \n\t" \
|
||||||
"push r31 \n\t" \
|
"push r31 \n\t" \
|
||||||
"lds r26, pxCurrentTCB \n\t" \
|
"lds r26, pxCurrentTCB \n\t" \
|
||||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||||
"in r0, __SP_L__ \n\t" \
|
"in r0, __SP_L__ \n\t" \
|
||||||
"st x+, r0 \n\t" \
|
"st x+, r0 \n\t" \
|
||||||
"in r0, __SP_H__ \n\t" \
|
"in r0, __SP_H__ \n\t" \
|
||||||
"st x+, r0 \n\t");
|
"st x+, r0 \n\t");
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
||||||
* the context save so we can write to the stack pointer.
|
* the context save so we can write to the stack pointer.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#define portRESTORE_CONTEXT() \
|
#define portRESTORE_CONTEXT() \
|
||||||
asm volatile("lds r26, pxCurrentTCB \n\t" \
|
asm volatile("lds r26, pxCurrentTCB \n\t" \
|
||||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||||
"ld r28, x+ \n\t" \
|
"ld r28, x+ \n\t" \
|
||||||
"out __SP_L__, r28 \n\t" \
|
"out __SP_L__, r28 \n\t" \
|
||||||
"ld r29, x+ \n\t" \
|
"ld r29, x+ \n\t" \
|
||||||
"out __SP_H__, r29 \n\t" \
|
"out __SP_H__, r29 \n\t" \
|
||||||
"pop r31 \n\t" \
|
"pop r31 \n\t" \
|
||||||
"pop r30 \n\t" \
|
"pop r30 \n\t" \
|
||||||
"pop r29 \n\t" \
|
"pop r29 \n\t" \
|
||||||
"pop r28 \n\t" \
|
"pop r28 \n\t" \
|
||||||
"pop r27 \n\t" \
|
"pop r27 \n\t" \
|
||||||
"pop r26 \n\t" \
|
"pop r26 \n\t" \
|
||||||
"pop r25 \n\t" \
|
"pop r25 \n\t" \
|
||||||
"pop r24 \n\t" \
|
"pop r24 \n\t" \
|
||||||
"pop r23 \n\t" \
|
"pop r23 \n\t" \
|
||||||
"pop r22 \n\t" \
|
"pop r22 \n\t" \
|
||||||
"pop r21 \n\t" \
|
"pop r21 \n\t" \
|
||||||
"pop r20 \n\t" \
|
"pop r20 \n\t" \
|
||||||
"pop r19 \n\t" \
|
"pop r19 \n\t" \
|
||||||
"pop r18 \n\t" \
|
"pop r18 \n\t" \
|
||||||
"pop r17 \n\t" \
|
"pop r17 \n\t" \
|
||||||
"pop r16 \n\t" \
|
"pop r16 \n\t" \
|
||||||
"pop r15 \n\t" \
|
"pop r15 \n\t" \
|
||||||
"pop r14 \n\t" \
|
"pop r14 \n\t" \
|
||||||
"pop r13 \n\t" \
|
"pop r13 \n\t" \
|
||||||
"pop r12 \n\t" \
|
"pop r12 \n\t" \
|
||||||
"pop r11 \n\t" \
|
"pop r11 \n\t" \
|
||||||
"pop r10 \n\t" \
|
"pop r10 \n\t" \
|
||||||
"pop r9 \n\t" \
|
"pop r9 \n\t" \
|
||||||
"pop r8 \n\t" \
|
"pop r8 \n\t" \
|
||||||
"pop r7 \n\t" \
|
"pop r7 \n\t" \
|
||||||
"pop r6 \n\t" \
|
"pop r6 \n\t" \
|
||||||
"pop r5 \n\t" \
|
"pop r5 \n\t" \
|
||||||
"pop r4 \n\t" \
|
"pop r4 \n\t" \
|
||||||
"pop r3 \n\t" \
|
"pop r3 \n\t" \
|
||||||
"pop r2 \n\t" \
|
"pop r2 \n\t" \
|
||||||
"pop r1 \n\t" \
|
"pop r1 \n\t" \
|
||||||
"pop r0 \n\t" \
|
"pop r0 \n\t" \
|
||||||
"out __SREG__, r0 \n\t" \
|
"out __SREG__, r0 \n\t" \
|
||||||
"pop 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)
|
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. */
|
This is just useful for debugging. Uncomment if needed. */
|
||||||
// *pxTopOfStack = 0x11;
|
// *pxTopOfStack = 0x11;
|
||||||
// pxTopOfStack--;
|
// pxTopOfStack--;
|
||||||
// *pxTopOfStack = 0x22;
|
// *pxTopOfStack = 0x22;
|
||||||
// pxTopOfStack--;
|
// pxTopOfStack--;
|
||||||
// *pxTopOfStack = 0x33;
|
// *pxTopOfStack = 0x33;
|
||||||
// pxTopOfStack--;
|
// pxTopOfStack--;
|
||||||
|
|
||||||
/* The start of the task code will be popped off the stack last, so place
|
/* The start of the task code will be popped off the stack last, so place
|
||||||
it on first. */
|
it on first. */
|
||||||
usAddress = (uint16_t)pxCode;
|
usAddress = (uint16_t)pxCode;
|
||||||
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
||||||
pxTopOfStack--;
|
pxTopOfStack--;
|
||||||
|
|
||||||
usAddress >>= 8;
|
usAddress >>= 8;
|
||||||
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
||||||
pxTopOfStack--;
|
pxTopOfStack--;
|
||||||
|
|
||||||
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
|
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
|
||||||
portSAVE_CONTEXT places the flags on the stack immediately after r0
|
portSAVE_CONTEXT places the flags on the stack immediately after r0
|
||||||
to ensure the interrupts get disabled as soon as possible, and so ensuring
|
to ensure the interrupts get disabled as soon as possible, and so ensuring
|
||||||
the stack use is minimal should a context switch interrupt occur. */
|
the stack use is minimal should a context switch interrupt occur. */
|
||||||
*pxTopOfStack = (StackType_t)0x00; /* R0 */
|
*pxTopOfStack = (StackType_t)0x00; /* R0 */
|
||||||
pxTopOfStack--;
|
pxTopOfStack--;
|
||||||
*pxTopOfStack = portFLAGS_INT_ENABLED;
|
*pxTopOfStack = portFLAGS_INT_ENABLED;
|
||||||
pxTopOfStack--;
|
pxTopOfStack--;
|
||||||
|
|
||||||
/* Now the remaining registers. The compiler expects R1 to be 0. */
|
/* Now the remaining registers. The compiler expects R1 to be 0. */
|
||||||
*pxTopOfStack = (StackType_t)0x00; /* R1 */
|
*pxTopOfStack = (StackType_t)0x00; /* R1 */
|
||||||
|
|
||||||
/* Leave R2 - R23 untouched */
|
/* Leave R2 - R23 untouched */
|
||||||
pxTopOfStack -= 23;
|
pxTopOfStack -= 23;
|
||||||
|
|
||||||
/* Place the parameter on the stack in the expected location. */
|
/* Place the parameter on the stack in the expected location. */
|
||||||
usAddress = (uint16_t)pvParameters;
|
usAddress = (uint16_t)pvParameters;
|
||||||
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
||||||
pxTopOfStack--;
|
pxTopOfStack--;
|
||||||
|
|
||||||
usAddress >>= 8;
|
usAddress >>= 8;
|
||||||
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
|
||||||
|
|
||||||
/* Leave register R26 - R31 untouched */
|
/* Leave register R26 - R31 untouched */
|
||||||
pxTopOfStack -= 7;
|
pxTopOfStack -= 7;
|
||||||
|
|
||||||
/*lint +e950 +e611 +e923 */
|
/*lint +e950 +e611 +e923 */
|
||||||
|
|
||||||
return pxTopOfStack;
|
return pxTopOfStack;
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
BaseType_t xPortStartScheduler(void)
|
BaseType_t xPortStartScheduler(void)
|
||||||
{
|
{
|
||||||
/* Setup the hardware to generate the tick. */
|
/* Setup the hardware to generate the tick. */
|
||||||
prvSetupTimerInterrupt();
|
prvSetupTimerInterrupt();
|
||||||
|
|
||||||
/* Restore the context of the first task that is going to run. */
|
/* Restore the context of the first task that is going to run. */
|
||||||
portRESTORE_CONTEXT();
|
portRESTORE_CONTEXT();
|
||||||
|
|
||||||
/* Simulate a function call end as generated by the compiler. We will now
|
/* 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. */
|
jump to the start of the task the context of which we have just restored. */
|
||||||
asm volatile("ret");
|
asm volatile("ret");
|
||||||
|
|
||||||
/* Should not get here. */
|
/* Should not get here. */
|
||||||
return pdTRUE;
|
return pdTRUE;
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
void vPortEndScheduler(void)
|
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) __attribute__((naked));
|
||||||
void vPortYield(void)
|
void vPortYield(void)
|
||||||
{
|
{
|
||||||
portSAVE_CONTEXT();
|
portSAVE_CONTEXT();
|
||||||
vTaskSwitchContext();
|
vTaskSwitchContext();
|
||||||
portRESTORE_CONTEXT();
|
portRESTORE_CONTEXT();
|
||||||
asm volatile("ret");
|
asm volatile("ret");
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -270,10 +268,10 @@ void vPortYield(void)
|
||||||
void vPortYieldFromISR(void) __attribute__((naked));
|
void vPortYieldFromISR(void) __attribute__((naked));
|
||||||
void vPortYieldFromISR(void)
|
void vPortYieldFromISR(void)
|
||||||
{
|
{
|
||||||
portSAVE_CONTEXT();
|
portSAVE_CONTEXT();
|
||||||
vTaskSwitchContext();
|
vTaskSwitchContext();
|
||||||
portRESTORE_CONTEXT();
|
portRESTORE_CONTEXT();
|
||||||
asm volatile("reti");
|
asm volatile("reti");
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -286,14 +284,14 @@ void vPortYieldFromISR(void)
|
||||||
void vPortYieldFromTick(void) __attribute__((naked));
|
void vPortYieldFromTick(void) __attribute__((naked));
|
||||||
void vPortYieldFromTick(void)
|
void vPortYieldFromTick(void)
|
||||||
{
|
{
|
||||||
portSAVE_CONTEXT();
|
portSAVE_CONTEXT();
|
||||||
if (xTaskIncrementTick() != pdFALSE) {
|
if (xTaskIncrementTick() != pdFALSE) {
|
||||||
vTaskSwitchContext();
|
vTaskSwitchContext();
|
||||||
}
|
}
|
||||||
|
|
||||||
portRESTORE_CONTEXT();
|
portRESTORE_CONTEXT();
|
||||||
|
|
||||||
asm volatile("reti");
|
asm volatile("reti");
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -302,7 +300,7 @@ void vPortYieldFromTick(void)
|
||||||
*/
|
*/
|
||||||
static void prvSetupTimerInterrupt(void)
|
static void prvSetupTimerInterrupt(void)
|
||||||
{
|
{
|
||||||
TICK_init();
|
TICK_init();
|
||||||
}
|
}
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
|
@ -315,12 +313,12 @@ static void prvSetupTimerInterrupt(void)
|
||||||
*/
|
*/
|
||||||
ISR(TICK_INT_vect, ISR_NAKED)
|
ISR(TICK_INT_vect, ISR_NAKED)
|
||||||
{
|
{
|
||||||
/* Clear tick interrupt flag. */
|
/* Clear tick interrupt flag. */
|
||||||
CLR_INT(INT_FLAGS, INT_MASK);
|
CLR_INT(INT_FLAGS, INT_MASK);
|
||||||
|
|
||||||
vPortYieldFromTick();
|
vPortYieldFromTick();
|
||||||
|
|
||||||
asm volatile("reti");
|
asm volatile("reti");
|
||||||
}
|
}
|
||||||
#else
|
#else
|
||||||
|
|
||||||
|
|
@ -331,8 +329,8 @@ ISR(TICK_INT_vect, ISR_NAKED)
|
||||||
*/
|
*/
|
||||||
ISR(TICK_INT_vect)
|
ISR(TICK_INT_vect)
|
||||||
{
|
{
|
||||||
/* Clear tick interrupt flag. */
|
/* Clear tick interrupt flag. */
|
||||||
INT_FLAGS = INT_MASK;
|
INT_FLAGS = INT_MASK;
|
||||||
xTaskIncrementTick();
|
xTaskIncrementTick();
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -6,106 +6,84 @@
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
#define CLR_INT(FLAG_REG, FLAG_MASK) \
|
#define CLR_INT(FLAG_REG, FLAG_MASK) \
|
||||||
asm volatile( "push r16\n\t" \
|
asm volatile( \
|
||||||
"ldi r16, %1\n\t" \
|
"push r16\n\t" \
|
||||||
"sts %0, r16\n\t" \
|
"ldi r16, %1\n\t" \
|
||||||
"pop r16\n\t" \
|
"sts %0, r16\n\t" \
|
||||||
: \
|
"pop r16\n\t" \
|
||||||
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
|
: \
|
||||||
);
|
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
|
||||||
|
);
|
||||||
|
|
||||||
#if ( configUSE_TIMER_INSTANCE == 0 )
|
#if ( configUSE_TIMER_INSTANCE == 0 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB0_INT_vect
|
#define TICK_INT_vect TCB0_INT_vect
|
||||||
#define INT_FLAGS TCB0_INTFLAGS
|
#define INT_FLAGS TCB0_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB0.INTCTRL = TCB_CAPT_bm; \
|
TCB0.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB0.CTRLA = TCB_ENABLE_bm; \
|
TCB0.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB0.INTCTRL &= ~TCB_CAPT_bm;\
|
|
||||||
TCB0.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 1 )
|
#elif ( configUSE_TIMER_INSTANCE == 1 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB1_INT_vect
|
#define TICK_INT_vect TCB1_INT_vect
|
||||||
#define INT_FLAGS TCB1_INTFLAGS
|
#define INT_FLAGS TCB1_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB1.INTCTRL = TCB_CAPT_bm; \
|
TCB1.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB1.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB1.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB2_INT_vect
|
#define TICK_INT_vect TCB2_INT_vect
|
||||||
#define INT_FLAGS TCB2_INTFLAGS
|
#define INT_FLAGS TCB2_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB2.INTCTRL = TCB_CAPT_bm; \
|
TCB2.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB2.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB2.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
||||||
|
|
||||||
#define TICK_INT_vect TCB3_INT_vect
|
#define TICK_INT_vect TCB3_INT_vect
|
||||||
#define INT_FLAGS TCB3_INTFLAGS
|
#define INT_FLAGS TCB3_INTFLAGS
|
||||||
#define INT_MASK TCB_CAPT_bm
|
#define INT_MASK TCB_CAPT_bm
|
||||||
|
|
||||||
#define TICK_init() { \
|
#define TICK_init() { \
|
||||||
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||||
TCB3.INTCTRL = TCB_CAPT_bm; \
|
TCB3.INTCTRL = TCB_CAPT_bm; \
|
||||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||||
}
|
}
|
||||||
|
|
||||||
#define TICK_stop() { \
|
|
||||||
TCB3.INTCTRL &= ~TCB_CAPT_bm; \
|
|
||||||
TCB3.CTRLA &= ~TCB_ENABLE_bm; \
|
|
||||||
}
|
|
||||||
|
|
||||||
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
||||||
|
|
||||||
#define TICK_INT_vect RTC_CNT_vect
|
#define TICK_INT_vect RTC_CNT_vect
|
||||||
#define INT_FLAGS RTC_INTFLAGS
|
#define INT_FLAGS RTC_INTFLAGS
|
||||||
#define INT_MASK RTC_OVF_bm
|
#define INT_MASK RTC_OVF_bm
|
||||||
|
|
||||||
#define RTC_PERIOD_HZ(x) (32768 * ( (1.0 / x) ) )
|
/* Hertz to period for RTC setup */
|
||||||
#define TICK_init() { \
|
#define RTC_PERIOD_HZ(x) ( 32768 * ( ( 1.0 / x ) ) )
|
||||||
while (RTC.STATUS > 0); \
|
#define TICK_init() { \
|
||||||
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
while (RTC.STATUS > 0); \
|
||||||
RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \
|
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
||||||
RTC.INTCTRL |= 1 << RTC_OVF_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); \
|
|
||||||
}
|
|
||||||
|
|
||||||
#else
|
#else
|
||||||
#undef TICK_INT_vect
|
#undef TICK_INT_vect
|
||||||
#undef INT_FLAGS
|
#undef INT_FLAGS
|
||||||
#undef INT_MASK
|
#undef INT_MASK
|
||||||
#error Invalid timer setting
|
#undef TICK_init()
|
||||||
|
#error Invalid timer setting.
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
|
||||||
|
|
@ -68,13 +68,13 @@ typedef uint32_t TickType_t;
|
||||||
|
|
||||||
/* Critical section management. */
|
/* Critical section management. */
|
||||||
#define portENTER_CRITICAL() \
|
#define portENTER_CRITICAL() \
|
||||||
asm volatile("in __tmp_reg__, __SREG__"); \
|
asm volatile("in __tmp_reg__, __SREG__"); \
|
||||||
asm volatile("cli"); \
|
asm volatile("cli"); \
|
||||||
asm volatile("push __tmp_reg__")
|
asm volatile("push __tmp_reg__")
|
||||||
|
|
||||||
#define portEXIT_CRITICAL() \
|
#define portEXIT_CRITICAL() \
|
||||||
asm volatile("pop __tmp_reg__"); \
|
asm volatile("pop __tmp_reg__"); \
|
||||||
asm volatile("out __SREG__, __tmp_reg__")
|
asm volatile("out __SREG__, __tmp_reg__")
|
||||||
|
|
||||||
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
|
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
|
||||||
#define portENABLE_INTERRUPTS() asm volatile("sei" ::);
|
#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 portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ)
|
||||||
#define portBYTE_ALIGNMENT 1
|
#define portBYTE_ALIGNMENT 1
|
||||||
#define portNOP() asm volatile("nop");
|
#define portNOP() asm volatile("nop");
|
||||||
|
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
/* Kernel utilities. */
|
/* Kernel utilities. */
|
||||||
|
|
@ -94,7 +93,6 @@ extern void vPortYield(void) __attribute__((naked));
|
||||||
|
|
||||||
extern void vPortYieldFromISR(void) __attribute__((naked));
|
extern void vPortYieldFromISR(void) __attribute__((naked));
|
||||||
#define portYIELD_FROM_ISR() vPortYieldFromISR()
|
#define portYIELD_FROM_ISR() vPortYieldFromISR()
|
||||||
|
|
||||||
/*-----------------------------------------------------------*/
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||||
|
|
@ -106,4 +104,3 @@ extern void vPortYieldFromISR(void) __attribute__((naked));
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#endif /* PORTMACRO_H */
|
#endif /* PORTMACRO_H */
|
||||||
|
|
||||||
|
|
|
||||||
293
portable/IAR/AVR_AVRDx/port.c
Normal file
293
portable/IAR/AVR_AVRDx/port.c
Normal file
|
|
@ -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 <stdlib.h>
|
||||||
|
#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();
|
||||||
|
}
|
||||||
|
}
|
||||||
94
portable/IAR/AVR_AVRDx/porthardware.h
Normal file
94
portable/IAR/AVR_AVRDx/porthardware.h
Normal file
|
|
@ -0,0 +1,94 @@
|
||||||
|
#ifndef PORTHARDWARE_H
|
||||||
|
#define PORTHARDWARE_H
|
||||||
|
|
||||||
|
#include <ioavr.h>
|
||||||
|
#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 */
|
||||||
105
portable/IAR/AVR_AVRDx/portmacro.h
Normal file
105
portable/IAR/AVR_AVRDx/portmacro.h
Normal file
|
|
@ -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 */
|
||||||
254
portable/IAR/AVR_AVRDx/portmacro.s90
Normal file
254
portable/IAR/AVR_AVRDx/portmacro.s90
Normal file
|
|
@ -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
|
||||||
291
portable/IAR/AVR_Mega0/port.c
Normal file
291
portable/IAR/AVR_Mega0/port.c
Normal file
|
|
@ -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 <stdlib.h>
|
||||||
|
#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();
|
||||||
|
}
|
||||||
|
}
|
||||||
82
portable/IAR/AVR_Mega0/porthardware.h
Normal file
82
portable/IAR/AVR_Mega0/porthardware.h
Normal file
|
|
@ -0,0 +1,82 @@
|
||||||
|
#ifndef PORTHARDWARE_H
|
||||||
|
#define PORTHARDWARE_H
|
||||||
|
|
||||||
|
#include <ioavr.h>
|
||||||
|
#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 */
|
||||||
105
portable/IAR/AVR_Mega0/portmacro.h
Normal file
105
portable/IAR/AVR_Mega0/portmacro.h
Normal file
|
|
@ -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 */
|
||||||
248
portable/IAR/AVR_Mega0/portmacro.s90
Normal file
248
portable/IAR/AVR_Mega0/portmacro.s90
Normal file
|
|
@ -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
|
||||||
Loading…
Reference in a new issue