mirror of
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>
260 lines
8.4 KiB
C
260 lines
8.4 KiB
C
/*
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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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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the Atmel ARM7 port.
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*----------------------------------------------------------*/
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/* Standard includes. */
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#include <stdlib.h>
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Constants required to setup the initial stack. */
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#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
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#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
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#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
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/* Constants required to setup the PIT. */
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#define portPIT_CLOCK_DIVISOR ( ( uint32_t ) 16 )
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#define portPIT_COUNTER_VALUE ( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS )
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/* Constants required to handle critical sections. */
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#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
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#define portINT_LEVEL_SENSITIVE 0
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#define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 )
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#define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 )
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/*-----------------------------------------------------------*/
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/* Setup the PIT to generate the tick interrupts. */
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static void prvSetupTimerInterrupt( void );
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/* ulCriticalNesting will get set to zero when the first task starts. It
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cannot be initialised to 0 as this will cause interrupts to be enabled
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during the kernel initialisation process. */
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uint32_t ulCriticalNesting = ( uint32_t ) 9999;
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if a call to
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* portSAVE_CONTEXT had been called.
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*
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* See header file for description.
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*/
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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{
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StackType_t *pxOriginalTOS;
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pxOriginalTOS = pxTopOfStack;
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/* To ensure asserts in tasks.c don't fail, although in this case the assert
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is not really required. */
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pxTopOfStack--;
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/* Setup the initial stack of the task. The stack is set exactly as
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expected by the portRESTORE_CONTEXT() macro. */
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/* First on the stack is the return address - which in this case is the
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start of the task. The offset is added to make the return address appear
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as it would within an IRQ ISR. */
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*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
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pxTopOfStack--;
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/* When the task starts is will expect to find the function parameter in
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R0. */
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*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
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pxTopOfStack--;
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/* The status register is set for system mode, with interrupts enabled. */
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*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
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if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL )
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{
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/* We want the task to start in thumb mode. */
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*pxTopOfStack |= portTHUMB_MODE_BIT;
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}
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pxTopOfStack--;
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/* Interrupt flags cannot always be stored on the stack and will
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instead be stored in a variable, which is then saved as part of the
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tasks context. */
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*pxTopOfStack = portNO_CRITICAL_NESTING;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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extern void vPortStartFirstTask( void );
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/* Start the timer that generates the tick ISR. Interrupts are disabled
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here already. */
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prvSetupTimerInterrupt();
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/* Start the first task. */
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vPortStartFirstTask();
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/* Should not get here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the ARM port will require this function as there
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is nothing to return to. */
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}
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/*-----------------------------------------------------------*/
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#if configUSE_PREEMPTION == 0
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/* The cooperative scheduler requires a normal IRQ service routine to
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simply increment the system tick. */
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static __arm __irq void vPortNonPreemptiveTick( void );
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static __arm __irq void vPortNonPreemptiveTick( void )
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{
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uint32_t ulDummy;
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/* Increment the tick count - which may wake some tasks but as the
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preemptive scheduler is not being used any woken task is not given
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processor time no matter what its priority. */
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xTaskIncrementTick();
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/* Clear the PIT interrupt. */
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ulDummy = AT91C_BASE_PITC->PITC_PIVR;
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/* End the interrupt in the AIC. */
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AT91C_BASE_AIC->AIC_EOICR = ulDummy;
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}
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#else
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/* Currently the IAR port requires the preemptive tick function to be
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defined in an asm file. */
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#endif
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/*-----------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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AT91PS_PITC pxPIT = AT91C_BASE_PITC;
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/* Setup the AIC for PIT interrupts. The interrupt routine chosen depends
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on whether the preemptive or cooperative scheduler is being used. */
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#if configUSE_PREEMPTION == 0
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AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortNonPreemptiveTick );
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#else
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extern void ( vPortPreemptiveTick )( void );
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AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_SYS, AT91C_AIC_PRIOR_HIGHEST, portINT_LEVEL_SENSITIVE, ( void (*)(void) ) vPortPreemptiveTick );
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#endif
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/* Configure the PIT period. */
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pxPIT->PITC_PIMR = portPIT_ENABLE | portPIT_INT_ENABLE | portPIT_COUNTER_VALUE;
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/* Enable the interrupt. Global interrupts are disables at this point so
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this is safe. */
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AT91F_AIC_EnableIt( AT91C_BASE_AIC, AT91C_ID_SYS );
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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/* Disable interrupts first! */
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__disable_interrupt();
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/* Now interrupts are disabled ulCriticalNesting can be accessed
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directly. Increment ulCriticalNesting to keep a count of how many times
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portENTER_CRITICAL() has been called. */
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ulCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical( void )
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{
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if( ulCriticalNesting > portNO_CRITICAL_NESTING )
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{
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/* Decrement the nesting count as we are leaving a critical section. */
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ulCriticalNesting--;
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/* If the nesting level has reached zero then interrupts should be
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re-enabled. */
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if( ulCriticalNesting == portNO_CRITICAL_NESTING )
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{
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__enable_interrupt();
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}
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}
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}
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/*-----------------------------------------------------------*/
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