| /*This file has been prepared for Doxygen automatic documentation generation.*/ | |
| /*! \file ********************************************************************* | |
| * | |
| * \brief FreeRTOS port source for AVR32 UC3. | |
| * | |
| * - Compiler: GNU GCC for AVR32 | |
| * - 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 V8.2.3 - Copyright (C) 2015 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! | |
| */ | |
| #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, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[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, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[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 %[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 */ \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting), \ | |
| [pxCurrentTCB] "i" (&pxCurrentTCB), \ | |
| [SR] "i" (AVR32_SR) \ | |
| ); \ | |
| } | |
| /* | |
| * 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 | |
| /* | |
| * 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, LO(%[ulCriticalNesting])\n\t" \ | |
| "orh r8, HI(%[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_%[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, LO(%[pxCurrentTCB])\n\t" \ | |
| "orh r8, HI(%[pxCurrentTCB])\n\t" \ | |
| "ld.w r0, r8[0]\n\t" \ | |
| "st.w r0[0], sp\n" \ | |
| \ | |
| "LABEL_INT_SKIP_SAVE_CONTEXT_%[LINE]:" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting), \ | |
| [pxCurrentTCB] "i" (&pxCurrentTCB), \ | |
| [LINE] "i" (__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_%[LINE]" \ | |
| : \ | |
| : [LINE] "i" (__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, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[pxCurrentTCB]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "ld.w sp, r0[0] \n"\ | |
| \ | |
| "LABEL_INT_SKIP_RESTORE_CONTEXT_%[LINE]: \n\t"\ | |
| \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t" \ | |
| "mov r8, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[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" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting), \ | |
| [pxCurrentTCB] "i" (&pxCurrentTCB), \ | |
| [LINE] "i" (__LINE__) \ | |
| ); \ | |
| } | |
| #endif | |
| /* | |
| * 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, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[ulCriticalNesting]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w --sp, r0" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting) \ | |
| ); \ | |
| \ | |
| /* 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, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[pxCurrentTCB]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w r0[0], sp" \ | |
| : \ | |
| : [pxCurrentTCB] "i" (&pxCurrentTCB) \ | |
| ); \ | |
| } | |
| /* | |
| * 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, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[pxCurrentTCB]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "ld.w sp, r0[0]" \ | |
| : \ | |
| : [pxCurrentTCB] "i" (&pxCurrentTCB) \ | |
| ); \ | |
| \ | |
| /* Leave pxCurrentTCB variable access critical section */ \ | |
| portEXIT_CRITICAL(); \ | |
| \ | |
| __asm__ __volatile__ ( \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t"\ | |
| "mov r8, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[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" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting) \ | |
| ); \ | |
| } | |
| /* | |
| * 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 | |
| /* | |
| * 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, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[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_%[LINE] \n\t"\ | |
| \ | |
| /* Store SP in the first member of the structure pointed to by pxCurrentTCB */ \ | |
| "mov r8, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[pxCurrentTCB]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "st.w r0[0], sp \n"\ | |
| \ | |
| "LABEL_ISR_SKIP_SAVE_CONTEXT_%[LINE]:" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting), \ | |
| [pxCurrentTCB] "i" (&pxCurrentTCB), \ | |
| [LINE] "i" (__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_%[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_%[LINE]" \ | |
| : \ | |
| : [LINE] "i" (__LINE__) \ | |
| ); \ | |
| \ | |
| /* 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_%[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, LO(%[pxCurrentTCB]) \n\t"\ | |
| "orh r8, HI(%[pxCurrentTCB]) \n\t"\ | |
| "ld.w r0, r8[0] \n\t"\ | |
| "ld.w sp, r0[0] \n"\ | |
| \ | |
| "LABEL_ISR_SKIP_RESTORE_CONTEXT_%[LINE]: \n\t"\ | |
| \ | |
| /* Restore ulCriticalNesting variable */ \ | |
| "ld.w r0, sp++ \n\t"\ | |
| "mov r8, LO(%[ulCriticalNesting]) \n\t"\ | |
| "orh r8, HI(%[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" \ | |
| : \ | |
| : [ulCriticalNesting] "i" (&ulCriticalNesting), \ | |
| [pxCurrentTCB] "i" (&pxCurrentTCB), \ | |
| [LINE] "i" (__LINE__) \ | |
| ); \ | |
| } | |
| #endif | |
| #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 */ |