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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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/* Demo app includes. */
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#include "USBSample.h"
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#define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 )
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#define usbCSR_CLEAR_BIT( pulValueNow, ulBit ) \
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{ \
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/* Set TXCOMP, RX_DATA_BK0, RXSETUP, */ \
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/* STALLSENT and RX_DATA_BK1 to 1 so the */ \
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/* write has no effect. */ \
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( * ( ( unsigned long * ) pulValueNow ) ) |= ( unsigned long ) 0x4f; \
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\
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/* Clear the FORCE_STALL and TXPKTRDY bits */ \
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/* so the write has no effect. */ \
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( * ( ( unsigned long * ) pulValueNow ) ) &= ( unsigned long ) 0xffffffcf; \
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\
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/* Clear whichever bit we want clear. */ \
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( * ( ( unsigned long * ) pulValueNow ) ) &= ( ~ulBit ); \
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}
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/*-----------------------------------------------------------*/
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/*
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* ISR entry point.
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*/
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void vUSB_ISR_Wrapper( void ) __attribute__((naked));
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/*
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* Actual ISR handler. This must be separate from the entry point as the stack
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* is used.
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*/
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void vUSB_ISR_Handler( void ) __attribute__((noinline));
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/*-----------------------------------------------------------*/
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/* Array in which the USB interrupt status is passed between the ISR and task. */
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static xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ];
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/* Queue used to pass messages between the ISR and the task. */
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extern xQueueHandle xUSBInterruptQueue;
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/*-----------------------------------------------------------*/
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void vUSB_ISR_Handler( void )
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{
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portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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static volatile unsigned long ulNextMessage = 0;
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xISRStatus *pxMessage;
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unsigned long ulTemp, ulRxBytes;
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/* To reduce the amount of time spent in this interrupt it would be
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possible to defer the majority of this processing to an 'interrupt task',
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that is a task that runs at a higher priority than any of the application
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tasks. */
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/* Take the next message from the queue. Note that usbQUEUE_LENGTH *must*
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be all 1's, as in 0x01, 0x03, 0x07, etc. */
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pxMessage = &( xISRMessages[ ( ulNextMessage & usbQUEUE_LENGTH ) ] );
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ulNextMessage++;
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/* Take a snapshot of the current USB state for processing at the task
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level. */
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pxMessage->ulISR = AT91C_BASE_UDP->UDP_ISR;
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pxMessage->ulCSR0 = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
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/* Clear the interrupts from the ICR register. The bus end interrupt is
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cleared separately as it does not appear in the mask register. */
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AT91C_BASE_UDP->UDP_ICR = AT91C_BASE_UDP->UDP_IMR | AT91C_UDP_ENDBUSRES;
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/* If there are bytes in the FIFO then we have to retrieve them here.
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Ideally this would be done at the task level. However we need to clear the
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RXSETUP interrupt before leaving the ISR, and this may cause the data in
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the FIFO to be overwritten. Also the DIR bit has to be changed before the
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RXSETUP bit is cleared (as per the SAM7 manual). */
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ulTemp = pxMessage->ulCSR0;
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/* Are there any bytes in the FIFO? */
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ulRxBytes = ulTemp >> 16;
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ulRxBytes &= usbRX_COUNT_MASK;
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/* With this minimal implementation we are only interested in receiving
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setup bytes on the control end point. */
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if( ( ulRxBytes > 0 ) && ( ulTemp & AT91C_UDP_RXSETUP ) )
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{
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/* Take off 1 for a zero based index. */
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while( ulRxBytes > 0 )
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{
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ulRxBytes--;
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pxMessage->ucFifoData[ ulRxBytes ] = AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ];
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}
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/* The direction must be changed first. */
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usbCSR_SET_BIT( &ulTemp, ( AT91C_UDP_DIR ) );
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AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
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}
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/* Must write zero's to TXCOMP, STALLSENT, RXSETUP, and the RX DATA
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registers to clear the interrupts in the CSR register. */
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usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
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/* Also clear the interrupts in the CSR1 register. */
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ulTemp = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ];
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usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] = ulTemp;
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/* The message now contains the entire state and optional data from
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the USB interrupt. This can now be posted on the Rx queue ready for
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processing at the task level. */
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xQueueSendFromISR( xUSBInterruptQueue, &pxMessage, &xHigherPriorityTaskWoken );
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/* We may want to switch to the USB task, if this message has made
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it the highest priority task that is ready to execute. */
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if( xHigherPriorityTaskWoken )
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{
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portYIELD_FROM_ISR();
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}
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/* Clear the AIC ready for the next interrupt. */
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AT91C_BASE_AIC->AIC_EOICR = 0;
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}
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/*-----------------------------------------------------------*/
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void vUSB_ISR_Wrapper( void )
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{
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/* Save the context of the interrupted task. */
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portSAVE_CONTEXT();
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/* Call the handler itself. This must be a separate function as it uses
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the stack. */
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__asm volatile ("bl vUSB_ISR_Handler");
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/* Restore the context of the task that is going to
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execute next. This might not be the same as the originally
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interrupted task.*/
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portRESTORE_CONTEXT();
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}
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