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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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/*
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Changes from V1.00:
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+ Call to the more efficient portSWITCH_CONTEXT() replaces the call to
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taskYIELD() in the ISR.
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Changes from V1.01:
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+ The semaphore task is not operational. This does nothing but check
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the semaphore from ISR functionality.
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+ ISR modified slightly so only Rx or Tx is serviced per ISR - not both.
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Changes from V1.2.0:
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+ Change so Tx uses a DMA channel, and Rx uses an interrupt.
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Changes from V1.2.3
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+ The function xPortInitMinimal() has been renamed to
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xSerialPortInitMinimal() and the function xPortInit() has been renamed
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to xSerialPortInit().
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Changes from V1.2.5
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+ Reverted back to the non-DMA serial port driver, with a slightly modified
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ISR. This is a better test of the scheduler mechanisms.
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+ A critical section is now used in vInterruptOn().
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+ Flag sTxInterruptOn has been added to the port structure. This allows
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checking of the interrupt enable status without performing any IO.
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Changes from V2.0.0
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+ Use portTickType in place of unsigned pdLONG for delay periods.
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+ Slightly more efficient vSerialSendString() implementation.
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+ cQueueReieveFromISR() used in place of xQueueReceive() in ISR.
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*/
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#include <stdlib.h>
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#include <dos.h>
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#include "FreeRTOS.h"
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#include "queue.h"
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#include "task.h"
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#include "portasm.h"
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#include "semphr.h"
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#define serMAX_PORTS ( ( unsigned short ) 2 )
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#define serPORT_0_INT_REG ( 0xff44 )
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#define serPORT_0_BAUD_REG ( 0xff88 )
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#define serPORT_0_RX_REG ( 0xff86 )
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#define serPORT_0_TX_REG ( 0xff84 )
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#define serPORT_0_STATUS_REG ( 0xff82 )
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#define serPORT_0_CTRL_REG ( 0xff80 )
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#define serPORT_0_IRQ ( 0x14 )
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#define serPORT_1_INT_REG ( 0xff42 )
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#define serPORT_1_BAUD_REG ( 0xff18 )
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#define serPORT_1_RX_REG ( 0xff16 )
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#define serPORT_1_TX_REG ( 0xff14 )
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#define serPORT_1_STATUS_REG ( 0xff12 )
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#define serPORT_1_CTRL_REG ( 0xff10 )
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#define serPORT_1_IRQ ( 0x11 )
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#define serTX_EMPTY ( ( unsigned short ) 0x40 )
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#define serRX_READY ( ( unsigned short ) 0x80 )
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#define serRESET_PIC( usEOI_TYPE ) portOUTPUT_WORD( ( unsigned short ) 0xff22, usEOI_TYPE )
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#define serTX_HOLD_EMPTY_INT ( ( unsigned short ) 0x100 )
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#define serENABLE_INTERRUPTS ( ( unsigned short ) 0x80 )
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#define serMODE ( ( unsigned short ) 0x01 )
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#define serENABLE_TX_MACHINES ( ( unsigned short ) 0x40 )
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#define serENABLE_RX_MACHINES ( ( unsigned short ) 0x20 )
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#define serINTERRUPT_MASK ( ( unsigned short ) 0x08 )
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#define serCLEAR_ALL_STATUS_BITS ( ( unsigned short ) 0x00 )
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#define serINTERRUPT_PRIORITY ( ( unsigned short ) 0x01 ) /*< Just below the scheduler priority. */
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#define serDONT_BLOCK ( ( portTickType ) 0 )
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typedef enum
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{
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serCOM1 = 0,
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serCOM2,
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serCOM3,
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serCOM4,
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serCOM5,
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serCOM6,
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serCOM7,
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serCOM8
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} eCOMPort;
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typedef enum
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{
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serNO_PARITY,
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serODD_PARITY,
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serEVEN_PARITY,
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serMARK_PARITY,
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serSPACE_PARITY
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} eParity;
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typedef enum
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{
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serSTOP_1,
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serSTOP_2
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} eStopBits;
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typedef enum
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{
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serBITS_5,
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serBITS_6,
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serBITS_7,
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serBITS_8
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} eDataBits;
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typedef enum
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{
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ser50 = 0,
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ser75,
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ser110,
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ser134,
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ser150,
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ser200,
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ser300,
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ser600,
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ser1200,
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ser1800,
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ser2400,
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ser4800,
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ser9600,
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ser19200,
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ser38400,
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ser57600,
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ser115200
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} eBaud;
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/* Must be same order as eBaud definitions. */
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static const unsigned short usBaudRateDivisor[] =
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{
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0, /* Not sure if the first 6 are correct. First cannot be used. */
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29127,
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19859,
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16302,
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14564,
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10923,
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6879,
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3437,
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1718,
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1145,
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859,
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429,
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214,
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107,
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54,
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35,
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18
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};
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typedef struct xCOM_PORT
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{
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/* Hardware parameters for this port. */
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short sTxInterruptOn;
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unsigned short usIntReg;
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unsigned short usBaudReg;
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unsigned short usRxReg;
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unsigned short usTxReg;
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unsigned short usStatusReg;
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unsigned short usCtrlReg;
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unsigned short usIRQVector;
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/* Queues used for communications with com test task. */
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xQueueHandle xRxedChars;
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xQueueHandle xCharsForTx;
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/* This semaphore does nothing useful except test a feature of the
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scheduler. */
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xSemaphoreHandle xTestSem;
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} xComPort;
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static xComPort xPorts[ serMAX_PORTS ] =
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{
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{ pdFALSE, serPORT_0_INT_REG, serPORT_0_BAUD_REG, serPORT_0_RX_REG, serPORT_0_TX_REG, serPORT_0_STATUS_REG, serPORT_0_CTRL_REG, serPORT_0_IRQ, NULL, NULL, NULL },
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{ pdFALSE, serPORT_1_INT_REG, serPORT_1_BAUD_REG, serPORT_1_RX_REG, serPORT_1_TX_REG, serPORT_1_STATUS_REG, serPORT_1_CTRL_REG, serPORT_1_IRQ, NULL, NULL, NULL }
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};
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typedef xComPort * xComPortHandle;
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/* These prototypes are repeated here so we don't have to include the serial header. This allows
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the xComPortHandle structure details to be private to this file. */
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xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength );
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portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, char *pcRxedChar, portTickType xBlockTime );
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portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, char cOutChar, portTickType xBlockTime );
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void vSerialClose( xComPortHandle xPort );
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short sSerialWaitForSemaphore( xComPortHandle xPort );
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/*-----------------------------------------------------------*/
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static short xComPortISR( xComPort * const pxPort );
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#define vInterruptOn( pxPort, usInterrupt ) \
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{ \
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unsigned short usIn; \
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\
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portENTER_CRITICAL(); \
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{ \
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if( pxPort->sTxInterruptOn == pdFALSE ) \
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{ \
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usIn = portINPUT_WORD( pxPort->usCtrlReg ); \
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portOUTPUT_WORD( pxPort->usCtrlReg, usIn | usInterrupt ); \
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\
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pxPort->sTxInterruptOn = pdTRUE; \
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} \
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} \
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portEXIT_CRITICAL(); \
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}
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/*-----------------------------------------------------------*/
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#define vInterruptOff( pxPort, usInterrupt ) \
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{ \
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unsigned short usIn = portINPUT_WORD( pxPort->usCtrlReg ); \
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if( usIn & usInterrupt ) \
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{ \
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portOUTPUT_WORD( pxPort->usCtrlReg, usIn & ~usInterrupt); \
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pxPort->sTxInterruptOn = pdFALSE; \
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} \
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}
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| 281 |
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/*-----------------------------------------------------------*/
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| 282 |
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| 284 |
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/* Define an interrupt handler for each port */
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#define COM_IRQ_WRAPPER(N) \
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static void __interrupt COM_IRQ##N##_WRAPPER( void ) \
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| 287 |
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{ \
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| 288 |
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if( xComPortISR( &( xPorts[##N##] ) ) ) \
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| 289 |
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{ \
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| 290 |
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portSWITCH_CONTEXT(); \
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| 291 |
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} \
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| 292 |
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}
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| 295 |
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| 296 |
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COM_IRQ_WRAPPER( 0 )
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COM_IRQ_WRAPPER( 1 )
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| 299 |
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static pxISR xISRs[ serMAX_PORTS ] =
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{
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| 301 |
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COM_IRQ0_WRAPPER,
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COM_IRQ1_WRAPPER
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};
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| 304 |
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| 305 |
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/*-----------------------------------------------------------*/
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| 306 |
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| 307 |
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xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength )
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{
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| 309 |
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unsigned short usPort;
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| 310 |
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xComPortHandle pxPort = NULL;
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| 311 |
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| 312 |
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/* BAUDDIV = ( Microprocessor Clock / Baud Rate ) / 16 */
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| 313 |
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| 314 |
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/* Only n, 8, 1 is supported so these parameters are not required for this
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| 315 |
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port. */
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| 316 |
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( void ) eWantedParity;
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| 317 |
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( void ) eWantedDataBits;
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| 318 |
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( void ) eWantedStopBits;
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| 319 |
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| 320 |
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/* Currently only n,8,1 is supported. */
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| 322 |
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usPort = ( unsigned short ) ePort;
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| 323 |
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| 324 |
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if( usPort < serMAX_PORTS )
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| 325 |
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{
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| 326 |
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pxPort = &( xPorts[ usPort ] );
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| 327 |
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| 328 |
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portENTER_CRITICAL();
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| 329 |
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{
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| 330 |
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unsigned short usInWord;
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| 331 |
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| 332 |
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/* Create the queues used by the com test task. */
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| 333 |
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pxPort->xRxedChars = xQueueCreate( uxBufferLength, ( unsigned portBASE_TYPE ) sizeof( char ) );
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| 334 |
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pxPort->xCharsForTx = xQueueCreate( uxBufferLength, ( unsigned portBASE_TYPE ) sizeof( char ) );
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| 335 |
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| 336 |
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/* Create the test semaphore. This does nothing useful except test a feature of the scheduler. */
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| 337 |
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vSemaphoreCreateBinary( pxPort->xTestSem );
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| 338 |
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| 339 |
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/* There is no ISR here already to restore later. */
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| 340 |
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_dos_setvect( ( short ) pxPort->usIRQVector, xISRs[ usPort ] );
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| 341 |
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| 342 |
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usInWord = portINPUT_WORD( pxPort->usIntReg );
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| 343 |
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usInWord &= ~serINTERRUPT_MASK;
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| 344 |
|
|
usInWord |= serINTERRUPT_PRIORITY;
|
| 345 |
|
|
portOUTPUT_WORD( pxPort->usIntReg, usInWord );
|
| 346 |
|
|
|
| 347 |
|
|
portOUTPUT_WORD( pxPort->usBaudReg, usBaudRateDivisor[ eWantedBaud ] );
|
| 348 |
|
|
portOUTPUT_WORD( pxPort->usCtrlReg, serENABLE_INTERRUPTS | serMODE | serENABLE_TX_MACHINES | serENABLE_RX_MACHINES );
|
| 349 |
|
|
|
| 350 |
|
|
portOUTPUT_WORD( pxPort->usStatusReg, serCLEAR_ALL_STATUS_BITS );
|
| 351 |
|
|
}
|
| 352 |
|
|
portEXIT_CRITICAL();
|
| 353 |
|
|
}
|
| 354 |
|
|
|
| 355 |
|
|
return pxPort;
|
| 356 |
|
|
} /*lint !e715 Some parameters are not used as only a subset of the serial port functionality is currently implemented. */
|
| 357 |
|
|
/*-----------------------------------------------------------*/
|
| 358 |
|
|
|
| 359 |
|
|
void vSerialPutString( xComPortHandle pxPort, const char * const pcString, unsigned short usStringLength )
|
| 360 |
|
|
{
|
| 361 |
|
|
unsigned short usByte;
|
| 362 |
|
|
char *pcNextChar;
|
| 363 |
|
|
|
| 364 |
|
|
pcNextChar = ( char * ) pcString;
|
| 365 |
|
|
|
| 366 |
|
|
for( usByte = 0; usByte < usStringLength; usByte++ )
|
| 367 |
|
|
{
|
| 368 |
|
|
xQueueSend( pxPort->xCharsForTx, pcNextChar, serDONT_BLOCK );
|
| 369 |
|
|
pcNextChar++;
|
| 370 |
|
|
}
|
| 371 |
|
|
|
| 372 |
|
|
vInterruptOn( pxPort, serTX_HOLD_EMPTY_INT );
|
| 373 |
|
|
}
|
| 374 |
|
|
/*-----------------------------------------------------------*/
|
| 375 |
|
|
|
| 376 |
|
|
portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, char *pcRxedChar, portTickType xBlockTime )
|
| 377 |
|
|
{
|
| 378 |
|
|
/* Get the next character from the buffer, note that this routine is only
|
| 379 |
|
|
called having checked that the is (at least) one to get */
|
| 380 |
|
|
if( xQueueReceive( pxPort->xRxedChars, pcRxedChar, xBlockTime ) )
|
| 381 |
|
|
{
|
| 382 |
|
|
return pdTRUE;
|
| 383 |
|
|
}
|
| 384 |
|
|
else
|
| 385 |
|
|
{
|
| 386 |
|
|
return pdFALSE;
|
| 387 |
|
|
}
|
| 388 |
|
|
}
|
| 389 |
|
|
/*-----------------------------------------------------------*/
|
| 390 |
|
|
|
| 391 |
|
|
portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, char cOutChar, portTickType xBlockTime )
|
| 392 |
|
|
{
|
| 393 |
|
|
if( xQueueSend( pxPort->xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
|
| 394 |
|
|
{
|
| 395 |
|
|
return pdFAIL;
|
| 396 |
|
|
}
|
| 397 |
|
|
|
| 398 |
|
|
vInterruptOn( pxPort, serTX_HOLD_EMPTY_INT );
|
| 399 |
|
|
|
| 400 |
|
|
return pdPASS;
|
| 401 |
|
|
}
|
| 402 |
|
|
/*-----------------------------------------------------------*/
|
| 403 |
|
|
|
| 404 |
|
|
portBASE_TYPE xSerialWaitForSemaphore( xComPortHandle xPort )
|
| 405 |
|
|
{
|
| 406 |
|
|
const portTickType xBlockTime = ( portTickType ) 0xffff;
|
| 407 |
|
|
|
| 408 |
|
|
/* This function does nothing interesting, but test the
|
| 409 |
|
|
semaphore from ISR mechanism. */
|
| 410 |
|
|
return xSemaphoreTake( xPort->xTestSem, xBlockTime );
|
| 411 |
|
|
}
|
| 412 |
|
|
/*-----------------------------------------------------------*/
|
| 413 |
|
|
|
| 414 |
|
|
void vSerialClose( xComPortHandle xPort )
|
| 415 |
|
|
{
|
| 416 |
|
|
unsigned short usOutput;
|
| 417 |
|
|
|
| 418 |
|
|
/* Turn off the interrupts. We may also want to delete the queues and/or
|
| 419 |
|
|
re-install the original ISR. */
|
| 420 |
|
|
|
| 421 |
|
|
portENTER_CRITICAL();
|
| 422 |
|
|
{
|
| 423 |
|
|
usOutput = portINPUT_WORD( xPort->usCtrlReg );
|
| 424 |
|
|
|
| 425 |
|
|
usOutput &= ~serENABLE_INTERRUPTS;
|
| 426 |
|
|
usOutput &= ~serENABLE_TX_MACHINES;
|
| 427 |
|
|
usOutput &= ~serENABLE_RX_MACHINES;
|
| 428 |
|
|
portOUTPUT_WORD( xPort->usCtrlReg, usOutput );
|
| 429 |
|
|
|
| 430 |
|
|
usOutput = portINPUT_WORD( xPort->usIntReg );
|
| 431 |
|
|
usOutput |= serINTERRUPT_MASK;
|
| 432 |
|
|
portOUTPUT_WORD( xPort->usIntReg, usOutput );
|
| 433 |
|
|
}
|
| 434 |
|
|
portEXIT_CRITICAL();
|
| 435 |
|
|
}
|
| 436 |
|
|
/*-----------------------------------------------------------*/
|
| 437 |
|
|
|
| 438 |
|
|
static portBASE_TYPE xComPortISR( xComPort * const pxPort )
|
| 439 |
|
|
{
|
| 440 |
|
|
unsigned short usStatusRegister;
|
| 441 |
|
|
char cChar;
|
| 442 |
|
|
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE, xContinue = pdTRUE;
|
| 443 |
|
|
|
| 444 |
|
|
/* NOTE: THIS IS NOT AN EFFICIENT ISR AS IT IS DESIGNED SOLELY TO TEST
|
| 445 |
|
|
THE SCHEDULER FUNCTIONALITY. REAL APPLICATIONS SHOULD NOT USE THIS
|
| 446 |
|
|
FUNCTION. */
|
| 447 |
|
|
|
| 448 |
|
|
|
| 449 |
|
|
while( xContinue == pdTRUE )
|
| 450 |
|
|
{
|
| 451 |
|
|
xContinue = pdFALSE;
|
| 452 |
|
|
usStatusRegister = portINPUT_WORD( pxPort->usStatusReg );
|
| 453 |
|
|
|
| 454 |
|
|
if( usStatusRegister & serRX_READY )
|
| 455 |
|
|
{
|
| 456 |
|
|
cChar = ( char ) portINPUT_WORD( pxPort->usRxReg );
|
| 457 |
|
|
xQueueSendFromISR( pxPort->xRxedChars, &cChar, &xHigherPriorityTaskWoken );
|
| 458 |
|
|
|
| 459 |
|
|
/* Also release the semaphore - this does nothing interesting and is just a test. */
|
| 460 |
|
|
xSemaphoreGiveFromISR( pxPort->xTestSem, &xHigherPriorityTaskWoken );
|
| 461 |
|
|
|
| 462 |
|
|
/* We have performed an action this cycle - there may be other to perform. */
|
| 463 |
|
|
xContinue = pdTRUE;
|
| 464 |
|
|
}
|
| 465 |
|
|
|
| 466 |
|
|
if( pxPort->sTxInterruptOn && ( usStatusRegister & serTX_EMPTY ) )
|
| 467 |
|
|
{
|
| 468 |
|
|
if( xQueueReceiveFromISR( pxPort->xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
|
| 469 |
|
|
{
|
| 470 |
|
|
portOUTPUT_WORD( pxPort->usTxReg, ( unsigned short ) cChar );
|
| 471 |
|
|
|
| 472 |
|
|
/* We have performed an action this cycle - there may be others to perform. */
|
| 473 |
|
|
xContinue = pdTRUE;
|
| 474 |
|
|
}
|
| 475 |
|
|
else
|
| 476 |
|
|
{
|
| 477 |
|
|
/* Queue empty, nothing to send */
|
| 478 |
|
|
vInterruptOff( pxPort, serTX_HOLD_EMPTY_INT );
|
| 479 |
|
|
}
|
| 480 |
|
|
}
|
| 481 |
|
|
}
|
| 482 |
|
|
|
| 483 |
|
|
serRESET_PIC( pxPort->usIRQVector );
|
| 484 |
|
|
|
| 485 |
|
|
/* If posting to the queue woke a task that was blocked on the queue we may
|
| 486 |
|
|
want to switch to the woken task - depending on its priority relative to
|
| 487 |
|
|
the task interrupted by this ISR. */
|
| 488 |
|
|
return xHigherPriorityTaskWoken;
|
| 489 |
|
|
}
|
| 490 |
|
|
|
| 491 |
|
|
|
| 492 |
|
|
|
| 493 |
|
|
|
| 494 |
|
|
|
| 495 |
|
|
|
