| /* | |
| FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd. | |
| FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT | |
| http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS tutorial books are available in pdf and paperback. * | |
| * Complete, revised, and edited pdf reference manuals are also * | |
| * available. * | |
| * * | |
| * Purchasing FreeRTOS documentation will not only help you, by * | |
| * ensuring you get running as quickly as possible and with an * | |
| * in-depth knowledge of how to use FreeRTOS, it will also help * | |
| * the FreeRTOS project to continue with its mission of providing * | |
| * professional grade, cross platform, de facto standard solutions * | |
| * for microcontrollers - completely free of charge! * | |
| * * | |
| * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
| * * | |
| * Thank you for using FreeRTOS, and thank you for your support! * | |
| * * | |
| *************************************************************************** | |
| 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. See the GNU General Public License for more | |
| details. You should have received a copy of the GNU General Public License | |
| and the FreeRTOS license exception along with FreeRTOS; if not itcan be | |
| viewed here: http://www.freertos.org/a00114.html and also obtained by | |
| writing to Real Time Engineers Ltd., contact details for whom are available | |
| on the FreeRTOS WEB site. | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| 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, and our new | |
| fully thread aware and reentrant UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems, who sell the code with commercial support, | |
| indemnification and middleware, under the OpenRTOS brand. | |
| 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. | |
| */ | |
| /* | |
| 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 xQueueHandle 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(); | |
| } | |