/* | |
FreeRTOS V9.0.0rc1 - Copyright (C) 2016 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! | |
*/ | |
/* Standard includes. */ | |
#include <stdlib.h> | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Machine includes */ | |
#include <machine/counter.h> | |
#include <machine/ic.h> | |
/*-----------------------------------------------------------*/ | |
/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */ | |
#define portINITIAL_PSR ( 0x00020000 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Perform any hardware configuration necessary to generate the tick interrupt. | |
*/ | |
static void prvSetupTimerInterrupt( void ); | |
/*-----------------------------------------------------------*/ | |
StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
{ | |
/* Make space on the stack for the context - this leaves a couple of spaces | |
empty. */ | |
pxTopOfStack -= 20; | |
/* Fill the registers with known values to assist debugging. */ | |
pxTopOfStack[ 16 ] = 0; | |
pxTopOfStack[ 15 ] = portINITIAL_PSR; | |
pxTopOfStack[ 14 ] = ( uint32_t ) pxCode; | |
pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */ | |
pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */ | |
pxTopOfStack[ 11 ] = 0x0d0d0d0dUL; | |
pxTopOfStack[ 10 ] = 0x0c0c0c0cUL; | |
pxTopOfStack[ 9 ] = 0x0b0b0b0bUL; | |
pxTopOfStack[ 8 ] = 0x0a0a0a0aUL; | |
pxTopOfStack[ 7 ] = 0x09090909UL; | |
pxTopOfStack[ 6 ] = 0x08080808UL; | |
pxTopOfStack[ 5 ] = 0x07070707UL; | |
pxTopOfStack[ 4 ] = 0x06060606UL; | |
pxTopOfStack[ 3 ] = 0x05050505UL; | |
pxTopOfStack[ 2 ] = 0x04040404UL; | |
pxTopOfStack[ 1 ] = 0x03030303UL; | |
pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters; | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortStartScheduler( void ) | |
{ | |
/* Set-up the timer interrupt. */ | |
prvSetupTimerInterrupt(); | |
/* Integrated Interrupt Controller: Enable all interrupts. */ | |
ic->ien = 1; | |
/* Restore callee saved registers. */ | |
portRESTORE_CONTEXT(); | |
/* Should not get here. */ | |
return 0; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupTimerInterrupt( void ) | |
{ | |
/* Enable timer interrupts */ | |
counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1; | |
counter1->value = counter1->reload; | |
counter1->mask = 1; | |
/* Set the IRQ Handler priority and enable it. */ | |
irq[ IRQ_COUNTER1 ].ien = 1; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Trap 31 handler. */ | |
void interrupt31_handler( void ) __attribute__((naked)); | |
void interrupt31_handler( void ) | |
{ | |
portSAVE_CONTEXT(); | |
__asm volatile ( "call vTaskSwitchContext" ); | |
portRESTORE_CONTEXT(); | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvProcessTick( void ) __attribute__((noinline)); | |
static void prvProcessTick( void ) | |
{ | |
if( xTaskIncrementTick() != pdFALSE ) | |
{ | |
vTaskSwitchContext(); | |
} | |
/* Clear the Tick Interrupt. */ | |
counter1->expired = 0; | |
} | |
/*-----------------------------------------------------------*/ | |
/* Timer 1 interrupt handler, used for tick interrupt. */ | |
void interrupt7_handler( void ) __attribute__((naked)); | |
void interrupt7_handler( void ) | |
{ | |
portSAVE_CONTEXT(); | |
prvProcessTick(); | |
portRESTORE_CONTEXT(); | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Nothing to do. Unlikely to want to end. */ | |
} | |
/*-----------------------------------------------------------*/ |