/* | |
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
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. Full license text is available on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* | |
Changes from V3.2.3 | |
+ Modified portENTER_SWITCHING_ISR() to allow use with GCC V4.0.1. | |
Changes from V3.2.4 | |
+ Removed the use of the %0 parameter within the assembler macros and | |
replaced them with hard coded registers. This will ensure the | |
assembler does not select the link register as the temp register as | |
was occasionally happening previously. | |
+ The assembler statements are now included in a single asm block rather | |
than each line having its own asm block. | |
Changes from V4.5.0 | |
+ Removed the portENTER_SWITCHING_ISR() and portEXIT_SWITCHING_ISR() macros | |
and replaced them with portYIELD_FROM_ISR() macro. Application code | |
should now make use of the portSAVE_CONTEXT() and portRESTORE_CONTEXT() | |
macros as per the V4.5.1 demo code. | |
*/ | |
#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 uint32_t | |
#define portBASE_TYPE portLONG | |
typedef portSTACK_TYPE StackType_t; | |
typedef long BaseType_t; | |
typedef unsigned long UBaseType_t; | |
#if( configUSE_16_BIT_TICKS == 1 ) | |
typedef uint16_t TickType_t; | |
#define portMAX_DELAY ( TickType_t ) 0xffff | |
#else | |
typedef uint32_t TickType_t; | |
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* Architecture specifics. */ | |
#define portSTACK_GROWTH ( -1 ) | |
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) | |
#define portBYTE_ALIGNMENT 8 | |
#define portNOP() __asm volatile ( "NOP" ); | |
/*-----------------------------------------------------------*/ | |
/* Scheduler utilities. */ | |
/* | |
* portRESTORE_CONTEXT, portRESTORE_CONTEXT, portENTER_SWITCHING_ISR | |
* and portEXIT_SWITCHING_ISR can only be called from ARM mode, but | |
* are included here for efficiency. An attempt to call one from | |
* THUMB mode code will result in a compile time error. | |
*/ | |
#define portRESTORE_CONTEXT() \ | |
{ \ | |
extern volatile void * volatile pxCurrentTCB; \ | |
extern volatile uint32_t ulCriticalNesting; \ | |
\ | |
/* Set the LR to the task stack. */ \ | |
__asm volatile ( \ | |
"LDR R0, =pxCurrentTCB \n\t" \ | |
"LDR R0, [R0] \n\t" \ | |
"LDR LR, [R0] \n\t" \ | |
\ | |
/* The critical nesting depth is the first item on the stack. */ \ | |
/* Load it into the ulCriticalNesting variable. */ \ | |
"LDR R0, =ulCriticalNesting \n\t" \ | |
"LDMFD LR!, {R1} \n\t" \ | |
"STR R1, [R0] \n\t" \ | |
\ | |
/* Get the SPSR from the stack. */ \ | |
"LDMFD LR!, {R0} \n\t" \ | |
"MSR SPSR, R0 \n\t" \ | |
\ | |
/* Restore all system mode registers for the task. */ \ | |
"LDMFD LR, {R0-R14}^ \n\t" \ | |
"NOP \n\t" \ | |
\ | |
/* Restore the return address. */ \ | |
"LDR LR, [LR, #+60] \n\t" \ | |
\ | |
/* And return - correcting the offset in the LR to obtain the */ \ | |
/* correct address. */ \ | |
"SUBS PC, LR, #4 \n\t" \ | |
); \ | |
( void ) ulCriticalNesting; \ | |
( void ) pxCurrentTCB; \ | |
} | |
/*-----------------------------------------------------------*/ | |
#define portSAVE_CONTEXT() \ | |
{ \ | |
extern volatile void * volatile pxCurrentTCB; \ | |
extern volatile uint32_t ulCriticalNesting; \ | |
\ | |
/* Push R0 as we are going to use the register. */ \ | |
__asm volatile ( \ | |
"STMDB SP!, {R0} \n\t" \ | |
\ | |
/* Set R0 to point to the task stack pointer. */ \ | |
"STMDB SP,{SP}^ \n\t" \ | |
"NOP \n\t" \ | |
"SUB SP, SP, #4 \n\t" \ | |
"LDMIA SP!,{R0} \n\t" \ | |
\ | |
/* Push the return address onto the stack. */ \ | |
"STMDB R0!, {LR} \n\t" \ | |
\ | |
/* Now we have saved LR we can use it instead of R0. */ \ | |
"MOV LR, R0 \n\t" \ | |
\ | |
/* Pop R0 so we can save it onto the system mode stack. */ \ | |
"LDMIA SP!, {R0} \n\t" \ | |
\ | |
/* Push all the system mode registers onto the task stack. */ \ | |
"STMDB LR,{R0-LR}^ \n\t" \ | |
"NOP \n\t" \ | |
"SUB LR, LR, #60 \n\t" \ | |
\ | |
/* Push the SPSR onto the task stack. */ \ | |
"MRS R0, SPSR \n\t" \ | |
"STMDB LR!, {R0} \n\t" \ | |
\ | |
"LDR R0, =ulCriticalNesting \n\t" \ | |
"LDR R0, [R0] \n\t" \ | |
"STMDB LR!, {R0} \n\t" \ | |
\ | |
/* Store the new top of stack for the task. */ \ | |
"LDR R0, =pxCurrentTCB \n\t" \ | |
"LDR R0, [R0] \n\t" \ | |
"STR LR, [R0] \n\t" \ | |
); \ | |
( void ) ulCriticalNesting; \ | |
( void ) pxCurrentTCB; \ | |
} | |
#define portYIELD_FROM_ISR() vTaskSwitchContext() | |
#define portYIELD() __asm volatile ( "SWI 0" ) | |
/*-----------------------------------------------------------*/ | |
/* Critical section management. */ | |
/* | |
* The interrupt management utilities can only be called from ARM mode. When | |
* THUMB_INTERWORK is defined the utilities are defined as functions in | |
* portISR.c to ensure a switch to ARM mode. When THUMB_INTERWORK is not | |
* defined then the utilities are defined as macros here - as per other ports. | |
*/ | |
#ifdef THUMB_INTERWORK | |
extern void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); | |
extern void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); | |
#define portDISABLE_INTERRUPTS() vPortDisableInterruptsFromThumb() | |
#define portENABLE_INTERRUPTS() vPortEnableInterruptsFromThumb() | |
#else | |
#define portDISABLE_INTERRUPTS() \ | |
__asm volatile ( \ | |
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ | |
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ | |
"ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ \ | |
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ | |
"LDMIA SP!, {R0} " ) /* Pop R0. */ | |
#define portENABLE_INTERRUPTS() \ | |
__asm volatile ( \ | |
"STMDB SP!, {R0} \n\t" /* Push R0. */ \ | |
"MRS R0, CPSR \n\t" /* Get CPSR. */ \ | |
"BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ \ | |
"MSR CPSR, R0 \n\t" /* Write back modified value. */ \ | |
"LDMIA SP!, {R0} " ) /* Pop R0. */ | |
#endif /* THUMB_INTERWORK */ | |
extern void vPortEnterCritical( void ); | |
extern void vPortExitCritical( void ); | |
#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 ) | |
#ifdef __cplusplus | |
} | |
#endif | |
#endif /* PORTMACRO_H */ | |