| /* | |
| FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?". Have you defined configASSERT()? * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.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 * | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * Investing in training allows your team to be as productive as * | |
| * possible as early as possible, lowering your overall development * | |
| * cost, and enabling you to bring a more robust product to market * | |
| * earlier than would otherwise be possible. Richard Barry is both * | |
| * the architect and key author of FreeRTOS, and so also the world's * | |
| * leading authority on what is the world's most popular real time * | |
| * kernel for deeply embedded MCU designs. Obtaining your training * | |
| * from Richard ensures your team will gain directly from his in-depth * | |
| * product knowledge and years of usage experience. Contact Real Time * | |
| * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * | |
| * by Richard Barry: http://www.FreeRTOS.org/contact | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * You are receiving this top quality software for free. Please play * | |
| * fair and reciprocate by reporting any suspected issues and * | |
| * participating in the community forum: * | |
| * http://www.FreeRTOS.org/support * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| 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! | |
| */ | |
| /* | |
| BASIC INTERRUPT DRIVEN DRIVER FOR USB. | |
| This file contains all the usb components that must be compiled | |
| to ARM mode. The components that can be compiled to either ARM or THUMB | |
| mode are contained in USB-CDC.c. | |
| */ | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "queue.h" | |
| /* Demo application includes. */ | |
| #include "Board.h" | |
| #include "usb.h" | |
| #include "USB-CDC.h" | |
| #define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 ) | |
| /*-----------------------------------------------------------*/ | |
| /* Messages and queue used to communicate between the ISR and the USB task. */ | |
| static xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ]; | |
| extern QueueHandle_t xUSBInterruptQueue; | |
| /*-----------------------------------------------------------*/ | |
| /* The ISR can cause a context switch so is declared naked. */ | |
| void vUSB_ISR_Wrapper( void ) __attribute__ ((naked)); | |
| /* The function that actually performs the ISR work. This must be separate | |
| from the wrapper function to ensure the correct stack frame gets set up. */ | |
| void vUSB_ISR_Handler( void ); | |
| /*-----------------------------------------------------------*/ | |
| void vUSB_ISR_Handler( void ) | |
| { | |
| portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; | |
| static volatile unsigned long ulNextMessage = 0; | |
| xISRStatus *pxMessage; | |
| unsigned long ulRxBytes; | |
| unsigned char ucFifoIndex; | |
| /* Use the next message from the array. */ | |
| pxMessage = &( xISRMessages[ ( ulNextMessage & usbQUEUE_LENGTH ) ] ); | |
| ulNextMessage++; | |
| /* Save UDP ISR state for task-level processing. */ | |
| pxMessage->ulISR = AT91C_BASE_UDP->UDP_ISR; | |
| pxMessage->ulCSR0 = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ]; | |
| /* Clear interrupts from ICR. */ | |
| AT91C_BASE_UDP->UDP_ICR = AT91C_BASE_UDP->UDP_IMR | AT91C_UDP_ENDBUSRES; | |
| /* Process incoming FIFO data. Must set DIR (if needed) and clear RXSETUP | |
| before exit. */ | |
| /* Read CSR and get incoming byte count. */ | |
| ulRxBytes = ( pxMessage->ulCSR0 >> 16 ) & usbRX_COUNT_MASK; | |
| /* Receive control transfers on endpoint 0. */ | |
| if( pxMessage->ulCSR0 & ( AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 ) ) | |
| { | |
| /* Save FIFO data buffer for either a SETUP or DATA stage */ | |
| for( ucFifoIndex = 0; ucFifoIndex < ulRxBytes; ucFifoIndex++ ) | |
| { | |
| pxMessage->ucFifoData[ ucFifoIndex ] = AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ]; | |
| } | |
| /* Set direction for data stage. Must be done before RXSETUP is | |
| cleared. */ | |
| if( ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RXSETUP ) ) | |
| { | |
| if( ulRxBytes && ( pxMessage->ucFifoData[ usbREQUEST_TYPE_INDEX ] & 0x80 ) ) | |
| { | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] |= AT91C_UDP_DIR; | |
| /* Might not be wise in an ISR! */ | |
| while( !(AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_DIR) ); | |
| } | |
| /* Clear RXSETUP */ | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~AT91C_UDP_RXSETUP; | |
| /* Might not be wise in an ISR! */ | |
| while ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RXSETUP ); | |
| } | |
| else | |
| { | |
| /* Clear RX_DATA_BK0 */ | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~AT91C_UDP_RX_DATA_BK0; | |
| /* Might not be wise in an ISR! */ | |
| while ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RX_DATA_BK0 ); | |
| } | |
| } | |
| /* If we received data on endpoint 1, disable its interrupts until it is | |
| processed in the main loop */ | |
| if( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] & ( AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 ) ) | |
| { | |
| AT91C_BASE_UDP->UDP_IDR = AT91C_UDP_EPINT1; | |
| } | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT ); | |
| /* Clear interrupts for the other endpoints, retain data flags for endpoint | |
| 1. */ | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] &= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP ); | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_2 ] &= ~usbINT_CLEAR_MASK; | |
| AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_3 ] &= ~usbINT_CLEAR_MASK; | |
| /* Post ISR data to queue for task-level processing */ | |
| xQueueSendFromISR( xUSBInterruptQueue, &pxMessage, &xHigherPriorityTaskWoken ); | |
| /* Clear AIC to complete ISR processing */ | |
| AT91C_BASE_AIC->AIC_EOICR = 0; | |
| /* Do a task switch if needed */ | |
| if( xHigherPriorityTaskWoken ) | |
| { | |
| /* This call will ensure that the unblocked task will be executed | |
| immediately upon completion of the ISR if it has a priority higher | |
| than the interrupted task. */ | |
| portYIELD_FROM_ISR(); | |
| } | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vUSB_ISR_Wrapper( void ) | |
| { | |
| /* Save the context of the interrupted task. */ | |
| portSAVE_CONTEXT(); | |
| /* Call the handler to do the work. This must be a separate | |
| function to ensure the stack frame is set up correctly. */ | |
| vUSB_ISR_Handler(); | |
| /* Restore the context of whichever task will execute next. */ | |
| portRESTORE_CONTEXT(); | |
| } | |