FreeRTOS/Source/portable/RVDS/ARM_CM0/port.c

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*/

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM CM0 port.
 *----------------------------------------------------------*/

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL		( ( volatile unsigned long *) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD		( ( volatile unsigned long *) 0xe000e014 )
#define portNVIC_INT_CTRL			( ( volatile unsigned long *) 0xe000ed04 )
#define portNVIC_SYSPRI2			( ( volatile unsigned long *) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK		0x00000004
#define portNVIC_SYSTICK_INT		0x00000002
#define portNVIC_SYSTICK_ENABLE		0x00000001
#define portNVIC_PENDSVSET			0x10000000
#define portMIN_INTERRUPT_PRIORITY	( 255UL )
#define portNVIC_PENDSV_PRI			( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI		( portMIN_INTERRUPT_PRIORITY << 24UL )

/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR			( 0x01000000 )

/* Constants used with memory barrier intrinsics. */
#define portSY_FULL_READ_WRITE		( 15 )

/* Each task maintains its own interrupt status in the critical nesting
variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;

/*
 * Setup the timer to generate the tick interrupts.
 */
static void prvSetupTimerInterrupt( void );

/*
 * Exception handlers.
 */
void xPortPendSVHandler( void );
void xPortSysTickHandler( void );
void vPortSVCHandler( void );

/*
 * Start first task is a separate function so it can be tested in isolation.
 */
static void prvPortStartFirstTask( void );

/*
 * Used to catch tasks that attempt to return from their implementing function.
 */
static void prvTaskExitError( void );

/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
	/* Simulate the stack frame as it would be created by a context switch
	interrupt. */
	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
	pxTopOfStack -= 8; /* R11..R4. */

	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

static void prvTaskExitError( void )
{
	/* A function that implements a task must not exit or attempt to return to
	its caller as there is nothing to return to.  If a task wants to exit it 
	should instead call vTaskDelete( NULL ).
	
	Artificially force an assert() to be triggered if configASSERT() is 
	defined, then stop here so application writers can catch the error. */
	configASSERT( uxCriticalNesting == ~0UL );
	portDISABLE_INTERRUPTS();	
	for( ;; );
}
/*-----------------------------------------------------------*/

__asm void vPortSVCHandler( void )
{
	extern pxCurrentTCB;

	PRESERVE8

	ldr	r3, =pxCurrentTCB	/* Obtain location of pxCurrentTCB. */
	ldr r1, [r3]			
	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
	adds r0, #16			/* Pop the high registers. */
	ldmia r0!, {r4-r7}		
	mov r8, r4
	mov r9, r5
	mov r10, r6
	mov r11, r7

	msr psp, r0				/* Remember the new top of stack for the task. */

	subs r0, #32			/* Go back for the low registers that are not automatically restored. */
	ldmia r0!, {r4-r7}      /* Pop low registers.  */
	mov r1, r14				/* OR R14 with 0x0d. */
	movs r0, #0x0d
	orrs r1, r0
	bx r1
	ALIGN
}
/*-----------------------------------------------------------*/

__asm void prvPortStartFirstTask( void )
{
	PRESERVE8
	
	/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
	table offset register that can be used to locate the initial stack value.
	Not all M0 parts have the application vector table at address 0. */
	cpsie i				/* Globally enable interrupts. */
	svc 0				/* System call to start first task. */
	ALIGN
}
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
portBASE_TYPE xPortStartScheduler( void )
{
	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Initialise the critical nesting count ready for the first task. */
	uxCriticalNesting = 0;

	/* Start the first task. */
	prvPortStartFirstTask();

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
  /* It is unlikely that the CM0 port will require this function as there
    is nothing to return to.  */
}
/*-----------------------------------------------------------*/

void vPortYield( void )
{
	/* Set a PendSV to request a context switch. */
	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;

	/* Barriers are normally not required but do ensure the code is completely
	within the specified behaviour for the architecture. */
	__dsb( portSY_FULL_READ_WRITE );
	__isb( portSY_FULL_READ_WRITE );
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
    portDISABLE_INTERRUPTS();
    uxCriticalNesting++;
	__dsb( portSY_FULL_READ_WRITE );
	__isb( portSY_FULL_READ_WRITE );
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
    uxCriticalNesting--;
    if( uxCriticalNesting == 0 )
    {
        portENABLE_INTERRUPTS();
    }
}
/*-----------------------------------------------------------*/

__asm unsigned long ulSetInterruptMaskFromISR( void )
{
	mrs r0, PRIMASK
	cpsid i
	bx lr
}
/*-----------------------------------------------------------*/

__asm void vClearInterruptMaskFromISR( unsigned long ulMask )
{
	msr PRIMASK, r0
	bx lr
}
/*-----------------------------------------------------------*/

__asm void xPortPendSVHandler( void )
{
	extern vTaskSwitchContext
	extern pxCurrentTCB

	PRESERVE8

	mrs r0, psp

	ldr	r3, =pxCurrentTCB 	/* Get the location of the current TCB. */
	ldr	r2, [r3]

	subs r0, #32			/* Make space for the remaining low registers. */
	str r0, [r2]			/* Save the new top of stack. */
	stmia r0!, {r4-r7}		/* Store the low registers that are not saved automatically. */
	mov r4, r8				/* Store the high registers. */
	mov r5, r9
	mov r6, r10
	mov r7, r11
	stmia r0!, {r4-r7}

	push {r3, r14}
	cpsid i
	bl vTaskSwitchContext
	cpsie i
	pop {r2, r3}			/* lr goes in r3. r2 now holds tcb pointer. */

	ldr r1, [r2]
	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
	adds r0, #16			/* Move to the high registers. */
	ldmia r0!, {r4-r7}		/* Pop the high registers. */
	mov r8, r4
	mov r9, r5
	mov r10, r6
	mov r11, r7

	msr psp, r0				/* Remember the new top of stack for the task. */

	subs r0, #32			/* Go back for the low registers that are not automatically restored. */
	ldmia r0!, {r4-r7}      /* Pop low registers.  */

	bx r3
	ALIGN
}
/*-----------------------------------------------------------*/

void xPortSysTickHandler( void )
{
unsigned long ulPreviousMask;

	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
	{
		/* Increment the RTOS tick. */
		if( xTaskIncrementTick() != pdFALSE )
		{
			/* Pend a context switch. */
			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
		}
	}
	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
}
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
void prvSetupTimerInterrupt( void )
{
	/* Configure SysTick to interrupt at the requested rate. */
	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/