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Richard Barry 2012-08-11 21:34:11 +00:00
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305
FreeRTOS/Source/portable/GCC/ARM_CM0/port.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.
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM0 port.
*----------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )
#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )
#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK 0x00000004
#define portNVIC_SYSTICK_INT 0x00000002
#define portNVIC_SYSTICK_ENABLE 0x00000001
#define portNVIC_PENDSVSET 0x10000000
#define portMIN_INTERRUPT_PRIORITY ( 255UL )
#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
/* Each task maintains its own interrupt status in the critical nesting
variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
*/
static void prvSetupTimerInterrupt( void );
/*
* Exception handlers.
*/
void xPortPendSVHandler( void ) __attribute__ (( naked ));
void xPortSysTickHandler( void );
void vPortSVCHandler( void ) __attribute__ (( naked ));
/*
* Start first task is a separate function so it can be tested in isolation.
*/
static void vPortStartFirstTask( void ) __attribute__ (( naked ));
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
/* Simulate the stack frame as it would be created by a context switch
interrupt. */
pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
pxTopOfStack -= 6; /* LR, R12, R3..R1 */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11..R4. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
void vPortSVCHandler( void )
{
__asm volatile (
" ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
" ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
" add r0, r0, #16 \n" /* Move to the high registers. */
" ldmia r0!, {r4-r7} \n" /* Pop the high registers. */
" mov r8, r4 \n"
" mov r9, r5 \n"
" mov r10, r6 \n"
" mov r11, r7 \n"
" \n"
" msr psp, r0 \n" /* Remember the new top of stack for the task. */
" \n"
" sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
" ldmia r0!, {r4-r7} \n" /* Pop low registers. */
" mov r1, r14 \n" /* OR R14 with 0x0d. */
" movs r0, #0x0d \n"
" orr r1, r0 \n"
" bx r1 \n"
" \n"
" .align 2 \n"
"pxCurrentTCBConst2: .word pxCurrentTCB \n"
);
}
/*-----------------------------------------------------------*/
void vPortStartFirstTask( void )
{
__asm volatile(
" movs r0, #0x00 \n" /* Locate the top of stack. */
" ldr r0, [r0] \n"
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */
" svc 0 \n" /* System call to start first task. */
" nop \n"
);
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
portBASE_TYPE xPortStartScheduler( void )
{
/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
/* Start the first task. */
vPortStartFirstTask();
/* Should not get here! */
return 0;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* It is unlikely that the CM0 port will require this function as there
is nothing to return to. */
}
/*-----------------------------------------------------------*/
void vPortYieldFromISR( void )
{
/* Set a PendSV to request a context switch. */
*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
}
/*-----------------------------------------------------------*/
void vPortExitCritical( void )
{
uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{
portENABLE_INTERRUPTS();
}
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
__asm volatile
(
" mrs r0, psp \n"
" \n"
" ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
" ldr r2, [r3] \n"
" \n"
" sub r0, r0, #32 \n" /* Make space for the remaining low registers. */
" str r0, [r2] \n" /* Save the new top of stack. */
" stmia r0!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */
" mov r4, r8 \n" /* Store the high registers. */
" mov r5, r9 \n"
" mov r6, r10 \n"
" mov r7, r11 \n"
" stmia r0!, {r4-r7} \n"
" \n"
" push {r3, r14} \n"
" cpsid i \n"
" bl vTaskSwitchContext \n"
" cpsie i \n"
" pop {r2, r3} \n" /* lr goes in r3. r2 now holds tcb pointer. */
" \n"
" ldr r1, [r2] \n"
" ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
" add r0, r0, #16 \n" /* Move to the high registers. */
" ldmia r0!, {r4-r7} \n" /* Pop the high registers. */
" mov r8, r4 \n"
" mov r9, r5 \n"
" mov r10, r6 \n"
" mov r11, r7 \n"
" \n"
" msr psp, r0 \n" /* Remember the new top of stack for the task. */
" \n"
" sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
" ldmia r0!, {r4-r7} \n" /* Pop low registers. */
" \n"
" bx r3 \n"
" \n"
" .align 2 \n"
"pxCurrentTCBConst: .word pxCurrentTCB "
);
}
/*-----------------------------------------------------------*/
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
/* If using preemption, also force a context switch. */
#if configUSE_PREEMPTION == 1
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
#endif
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
{
vTaskIncrementTick();
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
{
/* Configure SysTick to interrupt at the requested rate. */
*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/

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FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h Normal file
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@ -0,0 +1,142 @@
/*
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.
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
#ifdef __cplusplus
extern "C" {
#endif
/*-----------------------------------------------------------
* Port specific definitions.
*
* The settings in this file configure FreeRTOS correctly for the
* given hardware and compiler.
*
* These settings should not be altered.
*-----------------------------------------------------------
*/
/* Type definitions. */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE unsigned portLONG
#define portBASE_TYPE long
#if( configUSE_16_BIT_TICKS == 1 )
typedef unsigned portSHORT portTickType;
#define portMAX_DELAY ( portTickType ) 0xffff
#else
typedef unsigned portLONG portTickType;
#define portMAX_DELAY ( portTickType ) 0xffffffff
#endif
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 8
/*-----------------------------------------------------------*/
/* Scheduler utilities. */
extern void vPortYieldFromISR( void );
#define portYIELD() vPortYieldFromISR()
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
/*-----------------------------------------------------------*/
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portSET_INTERRUPT_MASK() __asm volatile ( " cpsid i " )
#define portCLEAR_INTERRUPT_MASK() __asm volatile ( " cpsie i " )
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portNOP()
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */