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Richard Barry 2012-08-11 21:34:11 +00:00
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266
FreeRTOS/Demo/ARM7_AT91FR40008_GCC/serial/serial.c Normal file
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/*
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR USART0.
This file contains all the serial port components that can be compiled to
either ARM or THUMB mode. Components that must be compiled to ARM mode are
contained in serialISR.c.
*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo application includes. */
#include "serial.h"
#include "AT91R40008.h"
#include "usart.h"
#include "pio.h"
#include "aic.h"
/*-----------------------------------------------------------*/
/* Constants to setup and access the UART. */
#define portUSART0_AIC_CHANNEL ( ( unsigned long ) 2 )
#define serINVALID_QUEUE ( ( xQueueHandle ) 0 )
#define serHANDLE ( ( xComPortHandle ) 1 )
#define serNO_BLOCK ( ( portTickType ) 0 )
/*-----------------------------------------------------------*/
/* Queues used to hold received characters, and characters waiting to be
transmitted. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/*-----------------------------------------------------------*/
/*
* The queues are created in serialISR.c as they are used from the ISR.
* Obtain references to the queues and THRE Empty flag.
*/
extern void vSerialISRCreateQueues( unsigned portBASE_TYPE uxQueueLength, xQueueHandle *pxRxedChars, xQueueHandle *pxCharsForTx );
/*-----------------------------------------------------------*/
xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned long ulSpeed;
unsigned long ulCD;
xComPortHandle xReturn = serHANDLE;
extern void ( vUART_ISR_Wrapper )( void );
/* The queues are used in the serial ISR routine, so are created from
serialISR.c (which is always compiled to ARM mode. */
vSerialISRCreateQueues( uxQueueLength, &xRxedChars, &xCharsForTx );
if(
( xRxedChars != serINVALID_QUEUE ) &&
( xCharsForTx != serINVALID_QUEUE ) &&
( ulWantedBaud != ( unsigned long ) 0 )
)
{
portENTER_CRITICAL();
{
/* Enable clock to USART0... */
AT91C_BASE_PS->PS_PCER = AT91C_PS_US0;
/* Disable all USART0 interrupt sources to begin... */
AT91C_BASE_US0->US_IDR = 0xFFFFFFFF;
/* Reset various status bits (just in case)... */
AT91C_BASE_US0->US_CR = US_RSTSTA;
AT91C_BASE_PIO->PIO_PDR = TXD0 | RXD0; /* Enable RXD and TXD pins */
AT91C_BASE_US0->US_CR = US_RSTRX | US_RSTTX | US_RXDIS | US_TXDIS;
/* Clear Transmit and Receive Counters */
AT91C_BASE_US0->US_RCR = 0;
AT91C_BASE_US0->US_TCR = 0;
/* Input clock to baud rate generator is MCK */
ulSpeed = configCPU_CLOCK_HZ * 10;
ulSpeed = ulSpeed / 16;
ulSpeed = ulSpeed / ulWantedBaud;
/* compute the error */
ulCD = ulSpeed / 10;
if ((ulSpeed - (ulCD * 10)) >= 5)
ulCD++;
/* Define the baud rate divisor register */
AT91C_BASE_US0->US_BRGR = ulCD;
/* Define the USART mode */
AT91C_BASE_US0->US_MR = US_CLKS_MCK | US_CHRL_8 | US_PAR_NO | US_NBSTOP_1 | US_CHMODE_NORMAL;
/* Write the Timeguard Register */
AT91C_BASE_US0->US_TTGR = 0;
/* Setup the interrupt for USART0.
Store interrupt handler function address in USART0 vector register... */
AT91C_BASE_AIC->AIC_SVR[ portUSART0_AIC_CHANNEL ] = (unsigned long)vUART_ISR_Wrapper;
/* USART0 interrupt level-sensitive, priority 1... */
AT91C_BASE_AIC->AIC_SMR[ portUSART0_AIC_CHANNEL ] = AIC_SRCTYPE_INT_LEVEL_SENSITIVE | 1;
/* Clear some pending USART0 interrupts (just in case)... */
AT91C_BASE_US0->US_CR = US_RSTSTA;
/* Enable USART0 interrupt sources (but not Tx for now)... */
AT91C_BASE_US0->US_IER = US_RXRDY;
/* Enable USART0 interrupts in the AIC... */
AT91C_BASE_AIC->AIC_IECR = ( 1 << portUSART0_AIC_CHANNEL );
/* Enable receiver and transmitter... */
AT91C_BASE_US0->US_CR = US_RXEN | US_TXEN;
}
portEXIT_CRITICAL();
}
else
{
xReturn = ( xComPortHandle ) 0;
}
return xReturn;
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
{
/* The port handle is not required as this driver only supports UART0. */
( void ) pxPort;
/* Get the next character from the buffer. Return false if no characters
are available, or arrive before xBlockTime expires. */
if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
{
return pdTRUE;
}
else
{
return pdFALSE;
}
}
/*-----------------------------------------------------------*/
void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
{
signed char *pxNext;
/* NOTE: This implementation does not handle the queue being full as no
block time is used! */
/* The port handle is not required as this driver only supports UART0. */
( void ) pxPort;
( void ) usStringLength;
/* Send each character in the string, one at a time. */
pxNext = ( signed char * ) pcString;
while( *pxNext )
{
xSerialPutChar( pxPort, *pxNext, serNO_BLOCK );
pxNext++;
}
}
/*-----------------------------------------------------------*/
signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
{
( void ) pxPort;
/* Place the character in the queue of characters to be transmitted. */
if( xQueueSend( xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
{
return pdFAIL;
}
/* Turn on the Tx interrupt so the ISR will remove the character from the
queue and send it. This does not need to be in a critical section as
if the interrupt has already removed the character the next interrupt
will simply turn off the Tx interrupt again. */
AT91C_BASE_US0->US_IER = US_TXRDY;
return pdPASS;
}
/*-----------------------------------------------------------*/
void vSerialClose( xComPortHandle xPort )
{
/* Not supported as not required by the demo application. */
( void ) xPort;
}
/*-----------------------------------------------------------*/

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FreeRTOS/Demo/ARM7_AT91FR40008_GCC/serial/serialISR.c Normal file
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@ -0,0 +1,193 @@
/*
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
***************************************************************************
* *
* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
* *
* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
* *
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
* *
* Thank you for using FreeRTOS, and thank you for your support! *
* *
***************************************************************************
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: http://www.freertos.org/a00114.html and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
1 tab == 4 spaces!
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
* *
* http://www.FreeRTOS.org/FAQHelp.html *
* *
***************************************************************************
http://www.FreeRTOS.org - Documentation, training, latest information,
license and contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
/*
BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR USART0.
This file contains all the serial port components that must be compiled
to ARM mode. The components that can be compiled to either ARM or THUMB
mode are contained in serial.c.
*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "queue.h"
#include "task.h"
/* Demo application includes. */
#include "serial.h"
#include "AT91R40008.h"
#include "usart.h"
/*-----------------------------------------------------------*/
/* Constant to access the AIC. */
#define serCLEAR_AIC_INTERRUPT ( ( unsigned long ) 0 )
/* Constants to determine the ISR source. */
#define serSOURCE_THRE ( ( unsigned char ) 0x02 )
#define serSOURCE_RX_TIMEOUT ( ( unsigned char ) 0x0c )
#define serSOURCE_ERROR ( ( unsigned char ) 0x06 )
#define serSOURCE_RX ( ( unsigned char ) 0x04 )
#define serINTERRUPT_SOURCE_MASK ( ( unsigned long ) (US_RXRDY | US_TXRDY | US_RXBRK | US_OVRE | US_FRAME | US_PARE) )
/* Queues used to hold received characters, and characters waiting to be
transmitted. */
static xQueueHandle xRxedChars;
static xQueueHandle xCharsForTx;
/*-----------------------------------------------------------*/
/* UART0 interrupt service routine. This can cause a context switch so MUST
be declared "naked". */
void vUART_ISR_Wrapper( void ) __attribute__ ((naked));
/* The ISR function that actually performs the work. This must be separate
from the wrapper to ensure the correct stack frame is set up. */
void vUART_ISR_Handler( void ) __attribute__ ((noinline));
/*-----------------------------------------------------------*/
void vSerialISRCreateQueues( unsigned portBASE_TYPE uxQueueLength, xQueueHandle *pxRxedChars, xQueueHandle *pxCharsForTx )
{
/* Create the queues used to hold Rx and Tx characters. */
xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
xCharsForTx = xQueueCreate( uxQueueLength + 1, ( unsigned portBASE_TYPE ) sizeof( signed char ) );
/* Pass back a reference to the queues so the serial API file can
post/receive characters. */
*pxRxedChars = xRxedChars;
*pxCharsForTx = xCharsForTx;
}
/*-----------------------------------------------------------*/
void vUART_ISR_Wrapper( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* Call the handler. This must be a separate function to ensure the
stack frame is correctly set up. */
__asm volatile( "bl vUART_ISR_Handler" );
/* Restore the context of whichever task will run next. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
void vUART_ISR_Handler( void )
{
/* Now we can declare the local variables. These must be static. */
signed char cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
unsigned long ulStatus;
/* What caused the interrupt? */
ulStatus = AT91C_BASE_US0->US_CSR & AT91C_BASE_US0->US_IMR;
if (ulStatus & US_TXRDY)
{
/* The interrupt was caused by the THR becoming empty. Are there any
more characters to transmit? */
if( xQueueReceiveFromISR( xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
{
/* A character was retrieved from the queue so can be sent to the
THR now. */
AT91C_BASE_US0->US_THR = cChar;
}
else
{
/* Queue empty, nothing to send so turn off the Tx interrupt. */
AT91C_BASE_US0->US_IDR = US_TXRDY;
}
}
if (ulStatus & US_RXRDY)
{
/* The interrupt was caused by the receiver getting data. */
cChar = AT91C_BASE_US0->US_RHR;
xQueueSendFromISR(xRxedChars, &cChar, &xHigherPriorityTaskWoken);
}
/* Acknowledge the interrupt at AIC level... */
AT91C_BASE_AIC->AIC_EOICR = serCLEAR_AIC_INTERRUPT;
/* If an event caused a task to unblock then we call "Yield from ISR" to
ensure that the unblocked task is the task that executes when the interrupt
completes if the unblocked task has a priority higher than the interrupted
task. */
if( xHigherPriorityTaskWoken )
{
portYIELD_FROM_ISR();
}
}
/*-----------------------------------------------------------*/