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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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989bc332b2
* Add XMOS XCore ports Some minor modifications are also made to the kernel to support the XCore compiler's automatic stack size calculation. * Update kernel to support SMP The XMOS XCore ports are also updated to support SMP. * Fix compiler warnings in xcore ports The port set and clear interrupt mask from ISR macros were removed from the ports so that the default macros found in FreeRTOS.h are used instead. The default macros do not result in warnings when they are used. * Remove inline function from timers.h Inline function converted to macro. This should now build when optimizations are off and inlining is disabled. * Fix compiler warnings in xcore ports and tasks.c * fixed documentation for ulTaskNotifyTake() and ulTaskNotifyTakeIndexed() * spelling fixes for tasks.c Co-authored-by: Michael Bruno <mikeb@xmos.com>
246 lines
6.7 KiB
Plaintext
246 lines
6.7 KiB
Plaintext
;/*
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; * FreeRTOS Kernel V10.4.3
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; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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; *
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; * Permission is hereby granted, free of charge, to any person obtaining a copy of
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; * this software and associated documentation files (the "Software"), to deal in
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; * the Software without restriction, including without limitation the rights to
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; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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; * the Software, and to permit persons to whom the Software is furnished to do so,
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; * subject to the following conditions:
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; *
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; * The above copyright notice and this permission notice shall be included in all
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; * copies or substantial portions of the Software.
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; *
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; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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; *
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; * https://www.FreeRTOS.org
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; * https://github.com/FreeRTOS
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; *
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; * 1 tab == 4 spaces!
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; */
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#include <iom323.h>
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; Declare all extern symbols here - including any ISRs that are referenced in
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; the vector table.
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; ISR functions
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; -------------
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EXTERN SIG_OUTPUT_COMPARE1A
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EXTERN SIG_UART_RECV
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EXTERN SIG_UART_DATA
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; Functions used by scheduler
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; ---------------------------
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EXTERN vTaskSwitchContext
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EXTERN pxCurrentTCB
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EXTERN xTaskIncrementTick
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EXTERN uxCriticalNesting
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; Functions implemented in this file
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; ----------------------------------
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PUBLIC vPortYield
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PUBLIC vPortYieldFromTick
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PUBLIC vPortStart
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; Interrupt vector table.
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; -----------------------
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;
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; For simplicity the RTOS tick interrupt routine uses the __task keyword.
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; As the IAR compiler does not permit a function to be declared using both
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; __task and __interrupt, the use of __task necessitates that the interrupt
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; vector table be setup manually.
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;
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; To write an ISR, implement the ISR function using the __interrupt keyword
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; but do not install the interrupt using the "#pragma vector=ABC" method.
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; Instead manually place the name of the ISR in the vector table using an
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; ORG and jmp instruction as demonstrated below.
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; You will also have to add an EXTERN statement at the top of the file.
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ASEG
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ORG TIMER1_COMPA_vect ; Vector address
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jmp SIG_OUTPUT_COMPARE1A ; ISR
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ORG USART_RXC_vect ; Vector address
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jmp SIG_UART_RECV ; ISR
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ORG USART_UDRE_vect ; Vector address
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jmp SIG_UART_DATA ; ISR
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RSEG CODE
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; Saving and Restoring a Task Context and Task Switching
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; ------------------------------------------------------
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;
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; The IAR compiler does not fully support inline assembler, so saving and
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; restoring a task context has to be written in an asm file.
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;
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; vPortYield() and vPortYieldFromTick() are usually written in C. Doing
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; so in this case would required calls to be made to portSAVE_CONTEXT() and
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; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch
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; function would require two extra jump and return instructions over the
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; WinAVR equivalent.
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;
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; To avoid this I have opted to implement both vPortYield() and
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; vPortYieldFromTick() in this assembly file. For convenience
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; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros.
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portSAVE_CONTEXT MACRO
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st -y, r0 ; First save the r0 register - we need to use this.
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in r0, SREG ; Obtain the SREG value so we can disable interrupts...
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cli ; ... as soon as possible.
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st -y, r0 ; Store the SREG as it was before we disabled interrupts.
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in r0, SPL ; Next store the hardware stack pointer. The IAR...
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st -y, r0 ; ... compiler uses the hardware stack as a call stack ...
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in r0, SPH ; ... only.
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st -y, r0
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st -y, r1 ; Now store the rest of the registers. Dont store the ...
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st -y, r2 ; ... the Y register here as it is used as the software
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st -y, r3 ; stack pointer and will get saved into the TCB.
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st -y, r4
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st -y, r5
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st -y, r6
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st -y, r7
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st -y, r8
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st -y, r9
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st -y, r10
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st -y, r11
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st -y, r12
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st -y, r13
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st -y, r14
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st -y, r15
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st -y, r16
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st -y, r17
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st -y, r18
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st -y, r19
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st -y, r20
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st -y, r21
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st -y, r22
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st -y, r23
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st -y, r24
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st -y, r25
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st -y, r26
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st -y, r27
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st -y, r30
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st -y, r31
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lds r0, uxCriticalNesting
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st -y, r0 ; Store the critical nesting counter.
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lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ...
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lds r27, pxCurrentTCB + 1 ; ... register) into the TCB.
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st x+, r28
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st x+, r29
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ENDM
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portRESTORE_CONTEXT MACRO
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lds r26, pxCurrentTCB
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lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ...
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ld r28, x+ ; the TCB into the software stack pointer (...
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ld r29, x+ ; ... the Y register).
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ld r0, y+
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sts uxCriticalNesting, r0
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ld r31, y+ ; Restore the registers down to R0. The Y
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ld r30, y+ ; register is missing from this list as it
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ld r27, y+ ; has already been restored.
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ld r26, y+
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ld r25, y+
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ld r24, y+
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ld r23, y+
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ld r22, y+
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ld r21, y+
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ld r20, y+
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ld r19, y+
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ld r18, y+
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ld r17, y+
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ld r16, y+
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ld r15, y+
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ld r14, y+
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ld r13, y+
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ld r12, y+
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ld r11, y+
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ld r10, y+
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ld r9, y+
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ld r8, y+
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ld r7, y+
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ld r6, y+
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ld r5, y+
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ld r4, y+
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ld r3, y+
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ld r2, y+
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ld r1, y+
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ld r0, y+ ; The next thing on the stack is the ...
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out SPH, r0 ; ... hardware stack pointer.
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ld r0, y+
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out SPL, r0
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ld r0, y+ ; Next there is the SREG register.
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out SREG, r0
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ld r0, y+ ; Finally we have finished with r0, so restore r0.
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ENDM
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; vPortYield() and vPortYieldFromTick()
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; -------------------------------------
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;
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; Manual and preemptive context switch functions respectively.
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; The IAR compiler does not fully support inline assembler,
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; so these are implemented here rather than the more usually
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; place of within port.c.
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vPortYield:
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portSAVE_CONTEXT ; Save the context of the current task.
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call vTaskSwitchContext ; Call the scheduler.
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portRESTORE_CONTEXT ; Restore the context of whichever task the ...
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ret ; ... scheduler decided should run.
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vPortYieldFromTick:
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portSAVE_CONTEXT ; Save the context of the current task.
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call xTaskIncrementTick ; Call the timer tick function.
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tst r16
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breq SkipTaskSwitch
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call vTaskSwitchContext ; Call the scheduler.
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SkipTaskSwitch:
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portRESTORE_CONTEXT ; Restore the context of whichever task the ...
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ret ; ... scheduler decided should run.
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; vPortStart()
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; ------------
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;
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; Again due to the lack of inline assembler, this is required
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; to get access to the portRESTORE_CONTEXT macro.
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vPortStart:
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portRESTORE_CONTEXT
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ret
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; Just a filler for unused interrupt vectors.
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vNoISR:
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reti
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END
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