mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-20 21:41:59 -04:00
d3e053568d
Add additional NOPs as required by hardware manual. Microblaze: Previously a task inherited the exception enable state from the context from which xTaskCreate() was called. Now tasks all have exceptions enabled if they are enabled in the hardware. Windows/GCC: Improve the implementation of portGET_HIGHEST_PRIORITY. Common code: Simplify the pointer use in xQueueGenericCreate() Demo apps: Remove jpg images that were used to create web pages. Fix capitalisation issues in some demos where some header files are incldued with the wrong case, preventing building on Linux. Remove the Microblaze demos that are using obsolete tools. Update main_blinky for the Windows port demo to include a software timer example.
325 lines
14 KiB
C
325 lines
14 KiB
C
/*
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FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Hardware includes. */
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#include <microblaze_exceptions_i.h>
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#include <microblaze_exceptions_g.h>
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/* The Xilinx library defined exception entry point stacks a number of
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registers. These definitions are offsets from the stack pointer to the various
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stacked register values. */
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#define portexR3_STACK_OFFSET 4
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#define portexR4_STACK_OFFSET 5
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#define portexR5_STACK_OFFSET 6
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#define portexR6_STACK_OFFSET 7
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#define portexR7_STACK_OFFSET 8
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#define portexR8_STACK_OFFSET 9
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#define portexR9_STACK_OFFSET 10
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#define portexR10_STACK_OFFSET 11
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#define portexR11_STACK_OFFSET 12
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#define portexR12_STACK_OFFSET 13
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#define portexR15_STACK_OFFSET 16
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#define portexR18_STACK_OFFSET 19
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#define portexMSR_STACK_OFFSET 20
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#define portexR19_STACK_OFFSET -1
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/* This is defined to equal the size, in bytes, of the stack frame generated by
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the Xilinx standard library exception entry point. It is required to determine
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the stack pointer value prior to the exception being entered. */
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#define portexASM_HANDLER_STACK_FRAME_SIZE 84UL
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/* The number of bytes a MicroBlaze instruction consumes. */
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#define portexINSTRUCTION_SIZE 4
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/* Exclude this entire file if the MicroBlaze is not configured to handle
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exceptions, or the application defined configuration constant
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configINSTALL_EXCEPTION_HANDLERS is not set to 1. */
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#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
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/* This variable is set in the exception entry code, before
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vPortExceptionHandler is called. */
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uint32_t *pulStackPointerOnFunctionEntry = NULL;
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/* This is the structure that is filled with the MicroBlaze context as it
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existed immediately prior to the exception occurrence. A pointer to this
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structure is passed into the vApplicationExceptionRegisterDump() callback
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function, if one is defined. */
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static xPortRegisterDump xRegisterDump;
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/* This is the FreeRTOS exception handler that is installed for all exception
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types. It is called from vPortExceptionHanlderEntry() - which is itself defined
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in portasm.S. */
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void vPortExceptionHandler( void *pvExceptionID );
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extern void vPortExceptionHandlerEntry( void *pvExceptionID );
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/*-----------------------------------------------------------*/
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/* vApplicationExceptionRegisterDump() is a callback function that the
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application can optionally define to receive a populated xPortRegisterDump
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structure. If the application chooses not to define a version of
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vApplicationExceptionRegisterDump() then this weekly defined default
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implementation will be called instead. */
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extern void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) __attribute__((weak));
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void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump )
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{
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( void ) xRegisterDump;
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for( ;; )
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{
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portNOP();
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}
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}
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/*-----------------------------------------------------------*/
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void vPortExceptionHandler( void *pvExceptionID )
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{
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extern void *pxCurrentTCB;
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/* Fill an xPortRegisterDump structure with the MicroBlaze context as it
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was immediately before the exception occurrence. */
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/* First fill in the name and handle of the task that was in the Running
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state when the exception occurred. */
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xRegisterDump.xCurrentTaskHandle = pxCurrentTCB;
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xRegisterDump.pcCurrentTaskName = pcTaskGetTaskName( NULL );
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configASSERT( pulStackPointerOnFunctionEntry );
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/* Obtain the values of registers that were stacked prior to this function
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being called, and may have changed since they were stacked. */
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xRegisterDump.ulR3 = pulStackPointerOnFunctionEntry[ portexR3_STACK_OFFSET ];
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xRegisterDump.ulR4 = pulStackPointerOnFunctionEntry[ portexR4_STACK_OFFSET ];
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xRegisterDump.ulR5 = pulStackPointerOnFunctionEntry[ portexR5_STACK_OFFSET ];
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xRegisterDump.ulR6 = pulStackPointerOnFunctionEntry[ portexR6_STACK_OFFSET ];
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xRegisterDump.ulR7 = pulStackPointerOnFunctionEntry[ portexR7_STACK_OFFSET ];
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xRegisterDump.ulR8 = pulStackPointerOnFunctionEntry[ portexR8_STACK_OFFSET ];
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xRegisterDump.ulR9 = pulStackPointerOnFunctionEntry[ portexR9_STACK_OFFSET ];
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xRegisterDump.ulR10 = pulStackPointerOnFunctionEntry[ portexR10_STACK_OFFSET ];
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xRegisterDump.ulR11 = pulStackPointerOnFunctionEntry[ portexR11_STACK_OFFSET ];
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xRegisterDump.ulR12 = pulStackPointerOnFunctionEntry[ portexR12_STACK_OFFSET ];
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xRegisterDump.ulR15_return_address_from_subroutine = pulStackPointerOnFunctionEntry[ portexR15_STACK_OFFSET ];
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xRegisterDump.ulR18 = pulStackPointerOnFunctionEntry[ portexR18_STACK_OFFSET ];
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xRegisterDump.ulR19 = pulStackPointerOnFunctionEntry[ portexR19_STACK_OFFSET ];
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xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ];
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/* Obtain the value of all other registers. */
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xRegisterDump.ulR2_small_data_area = mfgpr( R2 );
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xRegisterDump.ulR13_read_write_small_data_area = mfgpr( R13 );
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xRegisterDump.ulR14_return_address_from_interrupt = mfgpr( R14 );
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xRegisterDump.ulR16_return_address_from_trap = mfgpr( R16 );
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xRegisterDump.ulR17_return_address_from_exceptions = mfgpr( R17 );
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xRegisterDump.ulR20 = mfgpr( R20 );
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xRegisterDump.ulR21 = mfgpr( R21 );
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xRegisterDump.ulR22 = mfgpr( R22 );
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xRegisterDump.ulR23 = mfgpr( R23 );
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xRegisterDump.ulR24 = mfgpr( R24 );
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xRegisterDump.ulR25 = mfgpr( R25 );
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xRegisterDump.ulR26 = mfgpr( R26 );
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xRegisterDump.ulR27 = mfgpr( R27 );
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xRegisterDump.ulR28 = mfgpr( R28 );
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xRegisterDump.ulR29 = mfgpr( R29 );
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xRegisterDump.ulR30 = mfgpr( R30 );
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xRegisterDump.ulR31 = mfgpr( R31 );
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xRegisterDump.ulR1_SP = ( ( uint32_t ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE;
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xRegisterDump.ulEAR = mfear();
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xRegisterDump.ulESR = mfesr();
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xRegisterDump.ulEDR = mfedr();
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/* Move the saved program counter back to the instruction that was executed
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when the exception occurred. This is only valid for certain types of
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exception. */
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xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_exceptions - portexINSTRUCTION_SIZE;
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#if( XPAR_MICROBLAZE_USE_FPU != 0 )
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{
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xRegisterDump.ulFSR = mffsr();
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}
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#else
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{
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xRegisterDump.ulFSR = 0UL;
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}
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#endif
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/* Also fill in a string that describes what type of exception this is.
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The string uses the same ID names as defined in the MicroBlaze standard
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library exception header files. */
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switch( ( uint32_t ) pvExceptionID )
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{
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case XEXC_ID_FSL :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FSL";
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break;
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case XEXC_ID_UNALIGNED_ACCESS :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_UNALIGNED_ACCESS";
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break;
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case XEXC_ID_ILLEGAL_OPCODE :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_ILLEGAL_OPCODE";
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break;
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case XEXC_ID_M_AXI_I_EXCEPTION :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_I_EXCEPTION or XEXC_ID_IPLB_EXCEPTION";
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break;
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case XEXC_ID_M_AXI_D_EXCEPTION :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_M_AXI_D_EXCEPTION or XEXC_ID_DPLB_EXCEPTION";
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break;
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case XEXC_ID_DIV_BY_ZERO :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_DIV_BY_ZERO";
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break;
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case XEXC_ID_STACK_VIOLATION :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_STACK_VIOLATION or XEXC_ID_MMU";
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break;
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#if( XPAR_MICROBLAZE_USE_FPU != 0 )
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case XEXC_ID_FPU :
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xRegisterDump.pcExceptionCause = ( int8_t * const ) "XEXC_ID_FPU see ulFSR value";
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break;
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#endif /* XPAR_MICROBLAZE_USE_FPU */
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}
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/* vApplicationExceptionRegisterDump() is a callback function that the
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application can optionally define to receive the populated xPortRegisterDump
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structure. If the application chooses not to define a version of
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vApplicationExceptionRegisterDump() then the weekly defined default
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implementation within this file will be called instead. */
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vApplicationExceptionRegisterDump( &xRegisterDump );
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/* Must not attempt to leave this function! */
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for( ;; )
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{
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portNOP();
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}
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}
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/*-----------------------------------------------------------*/
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void vPortExceptionsInstallHandlers( void )
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{
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static uint32_t ulHandlersAlreadyInstalled = pdFALSE;
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if( ulHandlersAlreadyInstalled == pdFALSE )
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{
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ulHandlersAlreadyInstalled = pdTRUE;
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#if XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS == 1
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microblaze_register_exception_handler( XEXC_ID_UNALIGNED_ACCESS, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_UNALIGNED_ACCESS );
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#endif /* XPAR_MICROBLAZE_UNALIGNED_EXCEPTIONS*/
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#if XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_ILLEGAL_OPCODE, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_ILLEGAL_OPCODE );
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#endif /* XPAR_MICROBLAZE_ILL_OPCODE_EXCEPTION */
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#if XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_M_AXI_I_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_I_EXCEPTION );
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#endif /* XPAR_MICROBLAZE_M_AXI_I_BUS_EXCEPTION */
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#if XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_M_AXI_D_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_M_AXI_D_EXCEPTION );
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#endif /* XPAR_MICROBLAZE_M_AXI_D_BUS_EXCEPTION */
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#if XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_IPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_IPLB_EXCEPTION );
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#endif /* XPAR_MICROBLAZE_IPLB_BUS_EXCEPTION */
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#if XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_DPLB_EXCEPTION, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DPLB_EXCEPTION );
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#endif /* XPAR_MICROBLAZE_DPLB_BUS_EXCEPTION */
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#if XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_DIV_BY_ZERO, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_DIV_BY_ZERO );
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#endif /* XPAR_MICROBLAZE_DIV_ZERO_EXCEPTION */
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#if XPAR_MICROBLAZE_FPU_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_FPU, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FPU );
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#endif /* XPAR_MICROBLAZE_FPU_EXCEPTION */
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#if XPAR_MICROBLAZE_FSL_EXCEPTION == 1
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microblaze_register_exception_handler( XEXC_ID_FSL, vPortExceptionHandlerEntry, ( void * ) XEXC_ID_FSL );
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#endif /* XPAR_MICROBLAZE_FSL_EXCEPTION */
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microblaze_enable_exceptions();
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}
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}
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/* Exclude the entire file if the MicroBlaze is not configured to handle
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exceptions, or the application defined configuration item
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configINSTALL_EXCEPTION_HANDLERS is not set to 1. */
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#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */
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