| /*This file has been prepared for Doxygen automatic documentation generation.*/ | |
| /*! \file ********************************************************************* | |
| * | |
| * \brief FreeRTOS port header for AVR32 UC3. | |
| * | |
| * - Compiler: IAR EWAVR32 | |
| * - Supported devices: All AVR32 devices can be used. | |
| * - AppNote: | |
| * | |
| * \author Atmel Corporation: http://www.atmel.com \n | |
| * Support and FAQ: http://support.atmel.no/ | |
| * | |
| *****************************************************************************/ | |
| /* | |
| * FreeRTOS Kernel V10.3.1 | |
| * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
| * | |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of | |
| * this software and associated documentation files (the "Software"), to deal in | |
| * the Software without restriction, including without limitation the rights to | |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
| * the Software, and to permit persons to whom the Software is furnished to do so, | |
| * subject to the following conditions: | |
| * | |
| * The above copyright notice and this permission notice shall be included in all | |
| * copies or substantial portions of the Software. | |
| * | |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
| * | |
| * http://www.FreeRTOS.org | |
| * http://aws.amazon.com/freertos | |
| * | |
| * 1 tab == 4 spaces! | |
| */ | |
| #ifndef PORTMACRO_H | |
| #define PORTMACRO_H | |
| /*----------------------------------------------------------- | |
| * Port specific definitions. | |
| * | |
| * The settings in this file configure FreeRTOS correctly for the | |
| * given hardware and compiler. | |
| * | |
| * These settings should not be altered. | |
| *----------------------------------------------------------- | |
| */ | |
| #include <avr32/io.h> | |
| #include "intc.h" | |
| #include "compiler.h" | |
| #ifdef __cplusplus | |
| extern "C" { | |
| #endif | |
| /* 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 long | |
| typedef portSTACK_TYPE StackType_t; | |
| typedef long BaseType_t; | |
| typedef unsigned long UBaseType_t; | |
| #define TASK_DELAY_MS( x ) ( ( x ) / portTICK_PERIOD_MS ) | |
| #define TASK_DELAY_S( x ) ( ( x ) * 1000 / portTICK_PERIOD_MS ) | |
| #define TASK_DELAY_MIN( x ) ( ( x ) * 60 * 1000 / portTICK_PERIOD_MS ) | |
| #define configTICK_TC_IRQ ATPASTE2( AVR32_TC_IRQ, configTICK_TC_CHANNEL ) | |
| #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 4 | |
| #define portNOP() { __asm__ __volatile__ ( "nop" ); } | |
| /*-----------------------------------------------------------*/ | |
| /*-----------------------------------------------------------*/ | |
| /* INTC-specific. */ | |
| #define DISABLE_ALL_EXCEPTIONS() Disable_global_exception() | |
| #define ENABLE_ALL_EXCEPTIONS() Enable_global_exception() | |
| #define DISABLE_ALL_INTERRUPTS() Disable_global_interrupt() | |
| #define ENABLE_ALL_INTERRUPTS() Enable_global_interrupt() | |
| #define DISABLE_INT_LEVEL( int_lev ) Disable_interrupt_level( int_lev ) | |
| #define ENABLE_INT_LEVEL( int_lev ) Enable_interrupt_level( int_lev ) | |
| /* | |
| * Debug trace. | |
| * Activated if and only if configDBG is nonzero. | |
| * Prints a formatted string to stdout. | |
| * The current source file name and line number are output with a colon before | |
| * the formatted string. | |
| * A carriage return and a linefeed are appended to the output. | |
| * stdout is redirected to the USART configured by configDBG_USART. | |
| * The parameters are the same as for the standard printf function. | |
| * There is no return value. | |
| * SHALL NOT BE CALLED FROM WITHIN AN INTERRUPT as fputs and printf use malloc, | |
| * which is interrupt-unsafe with the current __malloc_lock and __malloc_unlock. | |
| */ | |
| #if configDBG | |
| #define portDBG_TRACE( ... ) \ | |
| { \ | |
| fputs( __FILE__ ":" ASTRINGZ( __LINE__ ) ": ", stdout ); \ | |
| printf( __VA_ARGS__ ); \ | |
| fputs( "\r\n", stdout ); \ | |
| } | |
| #else | |
| #define portDBG_TRACE( ... ) | |
| #endif | |
| /* Critical section management. */ | |
| #define portDISABLE_INTERRUPTS() DISABLE_ALL_INTERRUPTS() | |
| #define portENABLE_INTERRUPTS() ENABLE_ALL_INTERRUPTS() | |
| extern void vPortEnterCritical( void ); | |
| extern void vPortExitCritical( void ); | |
| #define portENTER_CRITICAL() vPortEnterCritical(); | |
| #define portEXIT_CRITICAL() vPortExitCritical(); | |
| /* Added as there is no such function in FreeRTOS. */ | |
| extern void * pvPortRealloc( void * pv, | |
| size_t xSize ); | |
| /*-----------------------------------------------------------*/ | |
| /*=============================================================================================*/ | |
| /* | |
| * Restore Context for cases other than INTi. | |
| */ | |
| #define portRESTORE_CONTEXT() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Set SP to point to new stack */ \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t" \ | |
| "ld.w sp, r0[0] \n\t" \ | |
| \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t" \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "st.w r8[0], r0 \n\t" \ | |
| \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t" \ | |
| /* R0-R7 should not be used below this line */ \ | |
| /* Skip PC and SR (will do it at the end) */ \ | |
| "sub sp, -2*4 \n\t" \ | |
| /* Restore R8..R12 and LR */ \ | |
| "ldm sp++, r8-r12, lr \n\t" \ | |
| /* Restore SR */ \ | |
| "ld.w r0, sp[-8*4] \n\t"/* R0 is modified, is restored later. */\ | |
| "mtsr "ASTRINGZ ( AVR32_SR ) ", r0 \n\t" \ | |
| /* Restore r0 */ \ | |
| "ld.w r0, sp[-9*4] \n\t"\ | |
| /* Restore PC */ \ | |
| "ld.w pc, sp[-7*4]" /* Get PC from stack - PC is the 7th register saved */ \ | |
| ); \ | |
| \ | |
| /* Force import of global symbols from assembly */ \ | |
| ulCriticalNesting; \ | |
| pxCurrentTCB; \ | |
| } | |
| /* | |
| * portSAVE_CONTEXT_INT() and portRESTORE_CONTEXT_INT(): for INT0..3 exceptions. | |
| * portSAVE_CONTEXT_SCALL() and portRESTORE_CONTEXT_SCALL(): for the scall exception. | |
| * | |
| * Had to make different versions because registers saved on the system stack | |
| * are not the same between INT0..3 exceptions and the scall exception. | |
| */ | |
| /* Task context stack layout: */ | |
| /* R8 (*) */ | |
| /* R9 (*) */ | |
| /* R10 (*) */ | |
| /* R11 (*) */ | |
| /* R12 (*) */ | |
| /* R14/LR (*) */ | |
| /* R15/PC (*) */ | |
| /* SR (*) */ | |
| /* R0 */ | |
| /* R1 */ | |
| /* R2 */ | |
| /* R3 */ | |
| /* R4 */ | |
| /* R5 */ | |
| /* R6 */ | |
| /* R7 */ | |
| /* ulCriticalNesting */ | |
| /* (*) automatically done for INT0..INT3, but not for SCALL */ | |
| /* | |
| * The ISR used for the scheduler tick depends on whether the cooperative or | |
| * the preemptive scheduler is being used. | |
| */ | |
| #if configUSE_PREEMPTION == 0 | |
| /* | |
| * portSAVE_CONTEXT_OS_INT() for OS Tick exception. | |
| */ | |
| #define portSAVE_CONTEXT_OS_INT() \ | |
| { \ | |
| /* Save R0..R7 */ \ | |
| __asm__ __volatile__ ( "stm --sp, r0-r7" ); \ | |
| \ | |
| /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ | |
| /* there is also no context save. */ \ | |
| } | |
| /* | |
| * portRESTORE_CONTEXT_OS_INT() for Tick exception. | |
| */ | |
| #define portRESTORE_CONTEXT_OS_INT() \ | |
| { \ | |
| __asm__ __volatile__ ( \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t"\ | |
| \ | |
| /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ | |
| /* there is also no context restore. */ \ | |
| "rete" \ | |
| ); \ | |
| } | |
| #else /* if configUSE_PREEMPTION == 0 */ | |
| /* | |
| * portSAVE_CONTEXT_OS_INT() for OS Tick exception. | |
| */ | |
| #define portSAVE_CONTEXT_OS_INT() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| /* When we come here */ \ | |
| /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Save R0..R7 */ \ | |
| "stm --sp, r0-r7 \n\t" \ | |
| \ | |
| /* Save ulCriticalNesting variable - R0 is overwritten */ \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t" \ | |
| "st.w --sp, r0 \n\t" \ | |
| \ | |
| /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ | |
| /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ | |
| /* level and allow other lower interrupt level to occur). */ \ | |
| /* In this case we don't want to do a task switch because we don't know what the stack */ \ | |
| /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ | |
| /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ | |
| /* will just be restoring the interrupt handler, no way!!! */ \ | |
| /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ | |
| "ld.w r0, sp[9*4] \n\t"/* Read SR in stack */ \ | |
| "bfextu r0, r0, 22, 3 \n\t"/* Extract the mode bits to R0. */ \ | |
| "cp.w r0, 1 \n\t"/* Compare the mode bits with supervisor mode(b'001) */ \ | |
| "brhi LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) " \n\t" \ | |
| \ | |
| /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ | |
| /* NOTE: we don't enter a critical section here because all interrupt handlers */ \ | |
| /* MUST perform a SAVE_CONTEXT/RESTORE_CONTEXT in the same way as */ \ | |
| /* portSAVE_CONTEXT_OS_INT/port_RESTORE_CONTEXT_OS_INT if they call OS functions. */ \ | |
| /* => all interrupt handlers must use portENTER_SWITCHING_ISR/portEXIT_SWITCHING_ISR. */ \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w r0[0], sp \n"\ | |
| \ | |
| "LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":" \ | |
| ); \ | |
| } | |
| /* | |
| * portRESTORE_CONTEXT_OS_INT() for Tick exception. | |
| */ | |
| #define portRESTORE_CONTEXT_OS_INT() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ | |
| /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ | |
| /* level and allow other lower interrupt level to occur). */ \ | |
| /* In this case we don't want to do a task switch because we don't know what the stack */ \ | |
| /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ | |
| /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ | |
| /* will just be restoring the interrupt handler, no way!!! */ \ | |
| __asm__ __volatile__ ( \ | |
| "ld.w r0, sp[9*4] \n\t"/* Read SR in stack */ \ | |
| "bfextu r0, r0, 22, 3 \n\t"/* Extract the mode bits to R0. */ \ | |
| "cp.w r0, 1 \n\t"/* Compare the mode bits with supervisor mode(b'001) */ \ | |
| "brhi LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) \ | |
| ); \ | |
| \ | |
| /* Else */ \ | |
| /* because it is here safe, always call vTaskSwitchContext() since an OS tick occurred. */ \ | |
| /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */ \ | |
| portENTER_CRITICAL(); \ | |
| vTaskSwitchContext(); \ | |
| portEXIT_CRITICAL(); \ | |
| \ | |
| /* Restore all registers */ \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Set SP to point to new stack */ \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t" \ | |
| "ld.w sp, r0[0] \n" \ | |
| \ | |
| "LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ": \n\t" \ | |
| \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t" \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t"\ | |
| "st.w r8[0], r0 \n\t"\ | |
| \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t"\ | |
| \ | |
| /* Now, the stack should be R8..R12, LR, PC and SR */ \ | |
| "rete" \ | |
| ); \ | |
| \ | |
| /* Force import of global symbols from assembly */ \ | |
| ulCriticalNesting; \ | |
| pxCurrentTCB; \ | |
| } | |
| #endif /* if configUSE_PREEMPTION == 0 */ | |
| /* | |
| * portSAVE_CONTEXT_SCALL() for SupervisorCALL exception. | |
| * | |
| * NOTE: taskYIELD()(== SCALL) MUST NOT be called in a mode > supervisor mode. | |
| * | |
| */ | |
| #define portSAVE_CONTEXT_SCALL() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| /* Warning: the stack layout after SCALL doesn't match the one after an interrupt. */ \ | |
| /* If SR[M2:M0] == 001 */ \ | |
| /* PC and SR are on the stack. */ \ | |
| /* Else (other modes) */ \ | |
| /* Nothing on the stack. */ \ | |
| \ | |
| /* WARNING NOTE: the else case cannot happen as it is strictly forbidden to call */ \ | |
| /* vTaskDelay() and vTaskDelayUntil() OS functions (that result in a taskYield()) */ \ | |
| /* in an interrupt|exception handler. */ \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* in order to save R0-R7 */ \ | |
| "sub sp, 6*4 \n\t" \ | |
| /* Save R0..R7 */ \ | |
| "stm --sp, r0-r7 \n\t" \ | |
| \ | |
| /* in order to save R8-R12 and LR */ \ | |
| /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ | |
| "sub r7, sp,-16*4 \n\t" \ | |
| /* Copy PC and SR in other places in the stack. */ \ | |
| "ld.w r0, r7[-2*4] \n\t"/* Read SR */ \ | |
| "st.w r7[-8*4], r0 \n\t"/* Copy SR */ \ | |
| "ld.w r0, r7[-1*4] \n\t"/* Read PC */ \ | |
| "st.w r7[-7*4], r0 \n\t"/* Copy PC */ \ | |
| \ | |
| /* Save R8..R12 and LR on the stack. */ \ | |
| "stm --r7, r8-r12, lr \n\t" \ | |
| \ | |
| /* Arriving here we have the following stack organizations: */ \ | |
| /* R8..R12, LR, PC, SR, R0..R7. */ \ | |
| \ | |
| /* Now we can finalize the save. */ \ | |
| \ | |
| /* Save ulCriticalNesting variable - R0 is overwritten */ \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w --sp, r0" \ | |
| ); \ | |
| \ | |
| /* Disable the its which may cause a context switch (i.e. cause a change of */ \ | |
| /* pxCurrentTCB). */ \ | |
| /* Basically, all accesses to the pxCurrentTCB structure should be put in a */ \ | |
| /* critical section because it is a global structure. */ \ | |
| portENTER_CRITICAL(); \ | |
| \ | |
| /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ | |
| __asm__ __volatile__ ( \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w r0[0], sp" \ | |
| ); \ | |
| } | |
| /* | |
| * portRESTORE_CONTEXT() for SupervisorCALL exception. | |
| */ | |
| #define portRESTORE_CONTEXT_SCALL() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| /* Restore all registers */ \ | |
| \ | |
| /* Set SP to point to new stack */ \ | |
| __asm__ __volatile__ ( \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "ld.w sp, r0[0]" \ | |
| ); \ | |
| \ | |
| /* Leave pxCurrentTCB variable access critical section */ \ | |
| portEXIT_CRITICAL(); \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t" \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "st.w r8[0], r0 \n\t"\ | |
| \ | |
| /* skip PC and SR */ \ | |
| /* do not use SP if interrupts occurs, SP must be left at bottom of stack */ \ | |
| "sub r7, sp, -10*4 \n\t"\ | |
| /* Restore r8-r12 and LR */ \ | |
| "ldm r7++, r8-r12, lr \n\t"\ | |
| \ | |
| /* RETS will take care of the extra PC and SR restore. */ \ | |
| /* So, we have to prepare the stack for this. */ \ | |
| "ld.w r0, r7[-8*4] \n\t"/* Read SR */\ | |
| "st.w r7[-2*4], r0 \n\t"/* Copy SR */\ | |
| "ld.w r0, r7[-7*4] \n\t"/* Read PC */\ | |
| "st.w r7[-1*4], r0 \n\t"/* Copy PC */\ | |
| \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t"\ | |
| \ | |
| "sub sp, -6*4 \n\t"\ | |
| \ | |
| "rets" \ | |
| ); \ | |
| \ | |
| /* Force import of global symbols from assembly */ \ | |
| ulCriticalNesting; \ | |
| pxCurrentTCB; \ | |
| } | |
| /* | |
| * The ISR used depends on whether the cooperative or | |
| * the preemptive scheduler is being used. | |
| */ | |
| #if configUSE_PREEMPTION == 0 | |
| /* | |
| * ISR entry and exit macros. These are only required if a task switch | |
| * is required from the ISR. | |
| */ | |
| #define portENTER_SWITCHING_ISR() \ | |
| { \ | |
| /* Save R0..R7 */ \ | |
| __asm__ __volatile__ ( "stm --sp, r0-r7" ); \ | |
| \ | |
| /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ | |
| /* there is also no context save. */ \ | |
| } | |
| /* | |
| * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 | |
| */ | |
| #define portEXIT_SWITCHING_ISR() \ | |
| { \ | |
| __asm__ __volatile__ ( \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t"\ | |
| \ | |
| /* With the cooperative scheduler, as there is no context switch by interrupt, */ \ | |
| /* there is also no context restore. */ \ | |
| "rete" \ | |
| ); \ | |
| } | |
| #else /* if configUSE_PREEMPTION == 0 */ | |
| /* | |
| * ISR entry and exit macros. These are only required if a task switch | |
| * is required from the ISR. | |
| */ | |
| #define portENTER_SWITCHING_ISR() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| /* When we come here */ \ | |
| /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */ \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Save R0..R7 */ \ | |
| "stm --sp, r0-r7 \n\t" \ | |
| \ | |
| /* Save ulCriticalNesting variable - R0 is overwritten */ \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t" \ | |
| "st.w --sp, r0 \n\t" \ | |
| \ | |
| /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ | |
| /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ | |
| /* level and allow other lower interrupt level to occur). */ \ | |
| /* In this case we don't want to do a task switch because we don't know what the stack */ \ | |
| /* currently looks like (we don't know what the interrupted interrupt handler was doing). */ \ | |
| /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */ \ | |
| /* will just be restoring the interrupt handler, no way!!! */ \ | |
| /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */ \ | |
| "ld.w r0, sp[9*4] \n\t"/* Read SR in stack */ \ | |
| "bfextu r0, r0, 22, 3 \n\t"/* Extract the mode bits to R0. */ \ | |
| "cp.w r0, 1 \n\t"/* Compare the mode bits with supervisor mode(b'001) */ \ | |
| "brhi LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) " \n\t" \ | |
| \ | |
| /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w r0[0], sp \n"\ | |
| \ | |
| "LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":" \ | |
| ); \ | |
| } | |
| /* | |
| * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1 | |
| */ | |
| #define portEXIT_SWITCHING_ISR() \ | |
| { \ | |
| extern volatile uint32_t ulCriticalNesting; \ | |
| extern volatile void * volatile pxCurrentTCB; \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */ \ | |
| /* interrupt handler (which was of a higher priority level but decided to lower its priority */ \ | |
| /* level and allow other lower interrupt level to occur). */ \ | |
| /* In this case it's of no use to switch context and restore a new SP because we purposedly */ \ | |
| /* did not previously save SP in its TCB. */ \ | |
| "ld.w r0, sp[9*4] \n\t"/* Read SR in stack */ \ | |
| "bfextu r0, r0, 22, 3 \n\t"/* Extract the mode bits to R0. */ \ | |
| "cp.w r0, 1 \n\t"/* Compare the mode bits with supervisor mode(b'001) */ \ | |
| "brhi LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) " \n\t" \ | |
| \ | |
| /* If a switch is required then we just need to call */ \ | |
| /* vTaskSwitchContext() as the context has already been */ \ | |
| /* saved. */ \ | |
| "cp.w r12, 1 \n\t"/* Check if Switch context is required. */ \ | |
| "brne LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":C" \ | |
| ); \ | |
| \ | |
| /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */ \ | |
| portENTER_CRITICAL(); \ | |
| vTaskSwitchContext(); \ | |
| portEXIT_CRITICAL(); \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| "LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ": \n\t" \ | |
| /* Restore the context of which ever task is now the highest */ \ | |
| /* priority that is ready to run. */ \ | |
| \ | |
| /* Restore all registers */ \ | |
| \ | |
| /* Set SP to point to new stack */ \ | |
| "mov r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ") \n\t" \ | |
| "ld.w r0, r8[0] \n\t" \ | |
| "ld.w sp, r0[0] \n" \ | |
| \ | |
| "LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ": \n\t" \ | |
| \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t" \ | |
| "mov r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t" \ | |
| "orh r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ") \n\t"\ | |
| "st.w r8[0], r0 \n\t"\ | |
| \ | |
| /* Restore R0..R7 */ \ | |
| "ldm sp++, r0-r7 \n\t"\ | |
| \ | |
| /* Now, the stack should be R8..R12, LR, PC and SR */ \ | |
| "rete" \ | |
| ); \ | |
| \ | |
| /* Force import of global symbols from assembly */ \ | |
| ulCriticalNesting; \ | |
| pxCurrentTCB; \ | |
| } | |
| #endif /* if configUSE_PREEMPTION == 0 */ | |
| #define portYIELD() { __asm__ __volatile__ ( "scall" ); } | |
| /* 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 */ |