| /* |
| * 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 Atmel ARM7 port. |
| *----------------------------------------------------------*/ |
| |
| |
| /* Standard includes. */ |
| #include <stdlib.h> |
| |
| /* Scheduler includes. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* Hardware includes. */ |
| #include <board.h> |
| #include <pio/pio.h> |
| #include <pio/pio_it.h> |
| #include <pit/pit.h> |
| #include <aic/aic.h> |
| #include <tc/tc.h> |
| #include <utility/led.h> |
| #include <utility/trace.h> |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* Constants required to setup the initial stack. */ |
| #define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ |
| #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) |
| #define portINSTRUCTION_SIZE ( ( StackType_t ) 4 ) |
| |
| /* Constants required to setup the PIT. */ |
| #define port1MHz_IN_Hz ( 1000000ul ) |
| #define port1SECOND_IN_uS ( 1000000.0 ) |
| |
| /* Constants required to handle critical sections. */ |
| #define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 ) |
| |
| |
| #define portINT_LEVEL_SENSITIVE 0 |
| #define portPIT_ENABLE ( ( uint16_t ) 0x1 << 24 ) |
| #define portPIT_INT_ENABLE ( ( uint16_t ) 0x1 << 25 ) |
| /*-----------------------------------------------------------*/ |
| |
| /* Setup the PIT to generate the tick interrupts. */ |
| static void prvSetupTimerInterrupt( void ); |
| |
| /* The PIT interrupt handler - the RTOS tick. */ |
| static void vPortTickISR( void ); |
| |
| /* ulCriticalNesting will get set to zero when the first task starts. It |
| * cannot be initialised to 0 as this will cause interrupts to be enabled |
| * during the kernel initialisation process. */ |
| uint32_t ulCriticalNesting = ( uint32_t ) 9999; |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Initialise the stack of a task to look exactly as if a call to |
| * portSAVE_CONTEXT had been called. |
| * |
| * See header file for description. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) |
| { |
| StackType_t * pxOriginalTOS; |
| |
| pxOriginalTOS = pxTopOfStack; |
| |
| /* To ensure asserts in tasks.c don't fail, although in this case the assert |
| * is not really required. */ |
| pxTopOfStack--; |
| |
| /* Setup the initial stack of the task. The stack is set exactly as |
| * expected by the portRESTORE_CONTEXT() macro. */ |
| |
| /* First on the stack is the return address - which in this case is the |
| * start of the task. The offset is added to make the return address appear |
| * as it would within an IRQ ISR. */ |
| *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; |
| pxTopOfStack--; |
| |
| *pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ |
| pxTopOfStack--; |
| |
| /* When the task starts is will expect to find the function parameter in |
| * R0. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ |
| pxTopOfStack--; |
| |
| /* The status register is set for system mode, with interrupts enabled. */ |
| *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR; |
| |
| #ifdef THUMB_INTERWORK |
| { |
| /* We want the task to start in thumb mode. */ |
| *pxTopOfStack |= portTHUMB_MODE_BIT; |
| } |
| #endif |
| |
| pxTopOfStack--; |
| |
| /* Interrupt flags cannot always be stored on the stack and will |
| * instead be stored in a variable, which is then saved as part of the |
| * tasks context. */ |
| *pxTopOfStack = portNO_CRITICAL_NESTING; |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) |
| { |
| extern void vPortStartFirstTask( void ); |
| |
| /* Start the timer that generates the tick ISR. Interrupts are disabled |
| * here already. */ |
| prvSetupTimerInterrupt(); |
| |
| /* Start the first task. */ |
| vPortStartFirstTask(); |
| |
| /* Should not get here! */ |
| return 0; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* It is unlikely that the ARM port will require this function as there |
| * is nothing to return to. */ |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static __arm void vPortTickISR( void ) |
| { |
| volatile uint32_t ulDummy; |
| |
| /* Increment the tick count - which may wake some tasks but as the |
| * preemptive scheduler is not being used any woken task is not given |
| * processor time no matter what its priority. */ |
| if( xTaskIncrementTick() != pdFALSE ) |
| { |
| vTaskSwitchContext(); |
| } |
| |
| /* Clear the PIT interrupt. */ |
| ulDummy = AT91C_BASE_PITC->PITC_PIVR; |
| |
| /* To remove compiler warning. */ |
| ( void ) ulDummy; |
| |
| /* The AIC is cleared in the asm wrapper, outside of this function. */ |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSetupTimerInterrupt( void ) |
| { |
| const uint32_t ulPeriodIn_uS = ( 1.0 / ( double ) configTICK_RATE_HZ ) * port1SECOND_IN_uS; |
| |
| /* Setup the PIT for the required frequency. */ |
| PIT_Init( ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz ); |
| |
| /* Setup the PIT interrupt. */ |
| AIC_DisableIT( AT91C_ID_SYS ); |
| AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortTickISR ); |
| AIC_EnableIT( AT91C_ID_SYS ); |
| PIT_EnableIT(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEnterCritical( void ) |
| { |
| /* Disable interrupts first! */ |
| __disable_irq(); |
| |
| /* Now that interrupts are disabled, ulCriticalNesting can be accessed |
| * directly. Increment ulCriticalNesting to keep a count of how many times |
| * portENTER_CRITICAL() has been called. */ |
| ulCriticalNesting++; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortExitCritical( void ) |
| { |
| if( ulCriticalNesting > portNO_CRITICAL_NESTING ) |
| { |
| /* Decrement the nesting count as we are leaving a critical section. */ |
| ulCriticalNesting--; |
| |
| /* If the nesting level has reached zero then interrupts should be |
| * re-enabled. */ |
| if( ulCriticalNesting == portNO_CRITICAL_NESTING ) |
| { |
| __enable_irq(); |
| } |
| } |
| } |
| /*-----------------------------------------------------------*/ |