| /* |
| * FreeRTOS Kernel <DEVELOPMENT BRANCH> |
| * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
| * |
| * SPDX-License-Identifier: MIT |
| * |
| * 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. |
| * |
| * https://www.FreeRTOS.org |
| * https://github.com/FreeRTOS |
| * |
| */ |
| |
| /*----------------------------------------------------------- |
| * Implementation of functions defined in portable.h for the PPC440 port. |
| *----------------------------------------------------------*/ |
| |
| |
| /* Scheduler includes. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* Library includes. */ |
| #include "xtime_l.h" |
| #include "xintc.h" |
| #include "xintc_i.h" |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* Definitions to set the initial MSR of each task. */ |
| #define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL ) |
| #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL ) |
| #define portMACHINE_CHECK_ENABLE ( 1UL << 12UL ) |
| |
| #if configUSE_FPU == 1 |
| #define portAPU_PRESENT ( 1UL << 25UL ) |
| #define portFCM_FPU_PRESENT ( 1UL << 13UL ) |
| #else |
| #define portAPU_PRESENT ( 0UL ) |
| #define portFCM_FPU_PRESENT ( 0UL ) |
| #endif |
| |
| #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT ) |
| |
| |
| extern const unsigned _SDA_BASE_; |
| extern const unsigned _SDA2_BASE_; |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Setup the system timer to generate the tick interrupt. |
| */ |
| static void prvSetupTimerInterrupt( void ); |
| |
| /* |
| * The handler for the tick interrupt - defined in portasm.s. |
| */ |
| extern void vPortTickISR( void ); |
| |
| /* |
| * The handler for the yield function - defined in portasm.s. |
| */ |
| extern void vPortYield( void ); |
| |
| /* |
| * Function to start the scheduler running by starting the highest |
| * priority task that has thus far been created. |
| */ |
| extern void vPortStartFirstTask( void ); |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* Structure used to hold the state of the interrupt controller. */ |
| static XIntc xInterruptController; |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Initialise the stack of a task to look exactly as if the task had been |
| * interrupted. |
| * |
| * See the header file portable.h. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) |
| { |
| /* Place a known value at the bottom of the stack for debugging. */ |
| *pxTopOfStack = 0xDEADBEEF; |
| pxTopOfStack--; |
| |
| /* EABI stack frame. */ |
| pxTopOfStack -= 20; /* Previous backchain and LR, R31 to R4 inclusive. */ |
| |
| /* Parameters in R13. */ |
| *pxTopOfStack = ( StackType_t ) &_SDA_BASE_; /* address of the first small data area */ |
| pxTopOfStack -= 10; |
| |
| /* Parameters in R3. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; |
| pxTopOfStack--; |
| |
| /* Parameters in R2. */ |
| *pxTopOfStack = ( StackType_t ) &_SDA2_BASE_; /* address of the second small data area */ |
| pxTopOfStack--; |
| |
| /* R1 is the stack pointer so is omitted. */ |
| |
| *pxTopOfStack = 0x10000001UL; /* R0. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x00000000UL; /* USPRG0. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x00000000UL; /* CR. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x00000000UL; /* XER. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x00000000UL; /* CTR. */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* LR. */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) pxCode; /* SRR0. */ |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_MSR; /* SRR1. */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* Next LR. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x00000000UL; /* Backchain. */ |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) |
| { |
| prvSetupTimerInterrupt(); |
| XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 ); |
| vPortStartFirstTask(); |
| |
| /* Should not get here as the tasks are now running! */ |
| return pdFALSE; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* Not implemented. */ |
| for( ; ; ) |
| { |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Hardware initialisation to generate the RTOS tick. |
| */ |
| static void prvSetupTimerInterrupt( void ) |
| { |
| const uint32_t ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL ); |
| |
| XTime_DECClearInterrupt(); |
| XTime_FITClearInterrupt(); |
| XTime_WDTClearInterrupt(); |
| XTime_WDTDisableInterrupt(); |
| XTime_FITDisableInterrupt(); |
| |
| XExc_RegisterHandler( XEXC_ID_DEC_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 ); |
| |
| XTime_DECEnableAutoReload(); |
| XTime_DECSetInterval( ulInterval ); |
| XTime_DECEnableInterrupt(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortISRHandler( void * pvNullDoNotUse ) |
| { |
| uint32_t ulInterruptStatus, ulInterruptMask = 1UL; |
| BaseType_t xInterruptNumber; |
| XIntc_Config * pxInterruptController; |
| XIntc_VectorTableEntry * pxTable; |
| |
| /* Just to remove compiler warning. */ |
| ( void ) pvNullDoNotUse; |
| |
| /* Get the configuration by using the device ID - in this case it is |
| * assumed that only one interrupt controller is being used. */ |
| pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ]; |
| |
| /* Which interrupts are pending? */ |
| ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress ); |
| |
| for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ ) |
| { |
| if( ulInterruptStatus & 0x01UL ) |
| { |
| /* Clear the pending interrupt. */ |
| XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask ); |
| |
| /* Call the registered handler. */ |
| pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] ); |
| pxTable->Handler( pxTable->CallBackRef ); |
| } |
| |
| /* Check the next interrupt. */ |
| ulInterruptMask <<= 0x01UL; |
| ulInterruptStatus >>= 0x01UL; |
| |
| /* Have we serviced all interrupts? */ |
| if( ulInterruptStatus == 0UL ) |
| { |
| break; |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortSetupInterruptController( void ) |
| { |
| extern void vPortISRWrapper( void ); |
| |
| /* Perform all library calls necessary to initialise the exception table |
| * and interrupt controller. This assumes only one interrupt controller is in |
| * use. */ |
| XExc_mDisableExceptions( XEXC_NON_CRITICAL ); |
| XExc_Init(); |
| |
| /* The library functions save the context - we then jump to a wrapper to |
| * save the stack into the TCB. The wrapper then calls the handler defined |
| * above. */ |
| XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL ); |
| XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID ); |
| XIntc_Start( &xInterruptController, XIN_REAL_MODE ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID, |
| XInterruptHandler pxHandler, |
| void * pvCallBackRef ) |
| { |
| BaseType_t xReturn = pdFAIL; |
| |
| /* This function is defined here so the scope of xInterruptController can |
| * remain within this file. */ |
| |
| if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) ) |
| { |
| XIntc_Enable( &xInterruptController, ucInterruptID ); |
| xReturn = pdPASS; |
| } |
| |
| return xReturn; |
| } |