| 1 |
572 |
jeremybenn |
/*
|
| 2 |
|
|
FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
| 3 |
|
|
|
| 4 |
|
|
***************************************************************************
|
| 5 |
|
|
* *
|
| 6 |
|
|
* If you are: *
|
| 7 |
|
|
* *
|
| 8 |
|
|
* + New to FreeRTOS, *
|
| 9 |
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
| 10 |
|
|
* + Looking for basic training, *
|
| 11 |
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
| 12 |
|
|
* *
|
| 13 |
|
|
* then take a look at the FreeRTOS books - available as PDF or paperback *
|
| 14 |
|
|
* *
|
| 15 |
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
| 16 |
|
|
* http://www.FreeRTOS.org/Documentation *
|
| 17 |
|
|
* *
|
| 18 |
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
| 19 |
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
| 20 |
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
| 21 |
|
|
* exceptional circumstances). Thank you for your support! *
|
| 22 |
|
|
* *
|
| 23 |
|
|
***************************************************************************
|
| 24 |
|
|
|
| 25 |
|
|
This file is part of the FreeRTOS distribution.
|
| 26 |
|
|
|
| 27 |
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
| 28 |
|
|
the terms of the GNU General Public License (version 2) as published by the
|
| 29 |
|
|
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
| 30 |
|
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
| 31 |
|
|
a combined work that includes FreeRTOS without being obliged to provide the
|
| 32 |
|
|
source code for proprietary components outside of the FreeRTOS kernel.
|
| 33 |
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
| 34 |
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
| 35 |
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
| 36 |
|
|
more details. You should have received a copy of the GNU General Public
|
| 37 |
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
| 38 |
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
| 39 |
|
|
by writing to Richard Barry, contact details for whom are available on the
|
| 40 |
|
|
FreeRTOS WEB site.
|
| 41 |
|
|
|
| 42 |
|
|
1 tab == 4 spaces!
|
| 43 |
|
|
|
| 44 |
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
| 45 |
|
|
contact details.
|
| 46 |
|
|
|
| 47 |
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
| 48 |
|
|
critical systems.
|
| 49 |
|
|
|
| 50 |
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
| 51 |
|
|
licensing and training services.
|
| 52 |
|
|
*/
|
| 53 |
|
|
|
| 54 |
|
|
/*-----------------------------------------------------------
|
| 55 |
|
|
* Implementation of functions defined in portable.h for the OpenRISC port.
|
| 56 |
|
|
*----------------------------------------------------------*/
|
| 57 |
|
|
|
| 58 |
|
|
|
| 59 |
|
|
/* Scheduler includes. */
|
| 60 |
|
|
#include "FreeRTOS.h"
|
| 61 |
|
|
#include "task.h"
|
| 62 |
|
|
|
| 63 |
|
|
/* Processor constants. */
|
| 64 |
|
|
#include "port_spr_defs.h"
|
| 65 |
|
|
|
| 66 |
621 |
filepang |
/* Jump buffer */
|
| 67 |
|
|
#include <setjmp.h>
|
| 68 |
|
|
static jmp_buf jmpbuf;
|
| 69 |
|
|
|
| 70 |
572 |
jeremybenn |
/* Tick Timer Interrupt handler */
|
| 71 |
|
|
void vTickHandler( void );
|
| 72 |
|
|
|
| 73 |
|
|
/* Setup the timer to generate the tick interrupts. */
|
| 74 |
|
|
static void prvSetupTimerInterrupt( void );
|
| 75 |
|
|
|
| 76 |
|
|
/* For writing into SPR. */
|
| 77 |
|
|
static inline void mtspr(unsigned long spr, unsigned long value) {
|
| 78 |
|
|
asm("l.mtspr\t\t%0,%1,0": : "r" (spr), "r" (value));
|
| 79 |
|
|
}
|
| 80 |
|
|
|
| 81 |
|
|
/* For reading SPR. */
|
| 82 |
|
|
static inline unsigned long mfspr(unsigned long spr) {
|
| 83 |
|
|
unsigned long value;
|
| 84 |
|
|
asm("l.mfspr\t\t%0,%1,0" : "=r" (value) : "r" (spr));
|
| 85 |
|
|
return value;
|
| 86 |
|
|
}
|
| 87 |
|
|
|
| 88 |
664 |
filepang |
inline void vPortDisableInterrupts( void )
|
| 89 |
572 |
jeremybenn |
{
|
| 90 |
664 |
filepang |
mtspr(SPR_SR, mfspr(SPR_SR) & ~(SPR_SR_TEE|SPR_SR_IEE)); // Tick, interrupt stop
|
| 91 |
572 |
jeremybenn |
}
|
| 92 |
|
|
|
| 93 |
664 |
filepang |
inline void vPortEnableInterrupts( void )
|
| 94 |
572 |
jeremybenn |
{
|
| 95 |
664 |
filepang |
mtspr(SPR_SR, mfspr(SPR_SR) | (SPR_SR_TEE|SPR_SR_IEE)); // Tick, interrupt start
|
| 96 |
572 |
jeremybenn |
}
|
| 97 |
|
|
|
| 98 |
|
|
|
| 99 |
|
|
/*
|
| 100 |
|
|
* Initialise the stack of a task to look exactly as if a call to
|
| 101 |
|
|
* portSAVE_CONTEXT had been called.
|
| 102 |
|
|
*
|
| 103 |
|
|
* See header file for description.
|
| 104 |
|
|
*/
|
| 105 |
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
| 106 |
|
|
{
|
| 107 |
664 |
filepang |
unsigned portLONG uTaskSR = mfspr(SPR_SR);
|
| 108 |
|
|
uTaskSR |= SPR_SR_SM; // Supervisor mode
|
| 109 |
|
|
uTaskSR |= (SPR_SR_TEE | SPR_SR_IEE); // Tick interrupt enable, All External interupt enable
|
| 110 |
572 |
jeremybenn |
|
| 111 |
|
|
/* Setup the initial stack of the task. The stack is set exactly as
|
| 112 |
|
|
expected by the portRESTORE_CONTEXT() macro. */
|
| 113 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)pxCode; // SPR_EPCR_BASE(0)
|
| 114 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)uTaskSR; // SPR_ESR_BASE(0)
|
| 115 |
|
|
|
| 116 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000031; // r31
|
| 117 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000030; // r30
|
| 118 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000029; // r29
|
| 119 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000028; // r28
|
| 120 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000027; // r27
|
| 121 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000026; // r26
|
| 122 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000025; // r25
|
| 123 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000024; // r24
|
| 124 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000023; // r23
|
| 125 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000022; // r22
|
| 126 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000021; // r21
|
| 127 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000020; // r20
|
| 128 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000019; // r19
|
| 129 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000018; // r18
|
| 130 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000017; // r17
|
| 131 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000016; // r16
|
| 132 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000015; // r15
|
| 133 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000014; // r14
|
| 134 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000013; // r13
|
| 135 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000012; // r12
|
| 136 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000011; // r11
|
| 137 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000010; // r10
|
| 138 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000008; // r8
|
| 139 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000007; // r7
|
| 140 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000006; // r6
|
| 141 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000005; // r5
|
| 142 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000004; // r4
|
| 143 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)pvParameters; // task argument
|
| 144 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)0x00000002; // r2
|
| 145 |
|
|
*(--pxTopOfStack) = (portSTACK_TYPE)pxCode; // PC
|
| 146 |
|
|
|
| 147 |
|
|
return pxTopOfStack;
|
| 148 |
|
|
}
|
| 149 |
|
|
|
| 150 |
|
|
portBASE_TYPE xPortStartScheduler( void )
|
| 151 |
|
|
{
|
| 152 |
621 |
filepang |
if(setjmp((void *)jmpbuf) == 0) {
|
| 153 |
|
|
/* Start the timer that generates the tick ISR. Interrupts are disabled
|
| 154 |
|
|
here already. */
|
| 155 |
|
|
prvSetupTimerInterrupt();
|
| 156 |
572 |
jeremybenn |
|
| 157 |
621 |
filepang |
/* Start the first task. */
|
| 158 |
|
|
portRESTORE_CONTEXT();
|
| 159 |
|
|
|
| 160 |
|
|
/* Should not get here! */
|
| 161 |
|
|
} else {
|
| 162 |
|
|
/* Retrun by vPortEndScheduler */
|
| 163 |
|
|
}
|
| 164 |
|
|
|
| 165 |
572 |
jeremybenn |
return 0;
|
| 166 |
|
|
}
|
| 167 |
|
|
|
| 168 |
|
|
void vPortEndScheduler( void )
|
| 169 |
|
|
{
|
| 170 |
|
|
mtspr(SPR_SR, mfspr(SPR_SR) & (~SPR_SR_TEE)); // Tick stop
|
| 171 |
621 |
filepang |
longjmp((void *)jmpbuf, 1); // return to xPortStartScheduler
|
| 172 |
572 |
jeremybenn |
}
|
| 173 |
|
|
|
| 174 |
|
|
/*
|
| 175 |
|
|
* Setup the tick timer to generate the tick interrupts at the required frequency.
|
| 176 |
|
|
*/
|
| 177 |
|
|
static void prvSetupTimerInterrupt( void )
|
| 178 |
|
|
{
|
| 179 |
|
|
const unsigned portLONG ulTickPeriod = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
|
| 180 |
|
|
|
| 181 |
|
|
// Disable tick timer exception recognition
|
| 182 |
|
|
mtspr(SPR_SR, mfspr(SPR_SR) & ~SPR_SR_TEE);
|
| 183 |
|
|
|
| 184 |
|
|
// clears interrupt
|
| 185 |
|
|
mtspr(SPR_TTMR, mfspr(SPR_TTMR) & ~(SPR_TTMR_IP));
|
| 186 |
|
|
|
| 187 |
|
|
// Set period of one cycle, restartable mode
|
| 188 |
|
|
mtspr(SPR_TTMR, SPR_TTMR_IE | SPR_TTMR_RT | (ulTickPeriod & SPR_TTMR_PERIOD));
|
| 189 |
|
|
|
| 190 |
|
|
// Reset counter
|
| 191 |
|
|
mtspr(SPR_TTCR, 0);
|
| 192 |
|
|
|
| 193 |
|
|
// set OR1200 to accept exceptions
|
| 194 |
|
|
mtspr(SPR_SR, mfspr(SPR_SR) | SPR_SR_TEE);
|
| 195 |
|
|
}
|
| 196 |
|
|
|
| 197 |
621 |
filepang |
/*
|
| 198 |
|
|
* naked attribute is ignored or32-elf-gcc 4.5.1-or32-1.0rc1
|
| 199 |
|
|
* use assemble routines in portasm.S
|
| 200 |
|
|
*/
|
| 201 |
572 |
jeremybenn |
#if 0
|
| 202 |
|
|
void vTickHandler( void )
|
| 203 |
|
|
{
|
| 204 |
|
|
// clears interrupt
|
| 205 |
|
|
mtspr(SPR_TTMR, mfspr(SPR_TTMR) & ~(SPR_TTMR_IP));
|
| 206 |
|
|
|
| 207 |
|
|
/* Increment the RTOS tick count, then look for the highest priority
|
| 208 |
|
|
task that is ready to run. */
|
| 209 |
|
|
vTaskIncrementTick();
|
| 210 |
|
|
|
| 211 |
|
|
// The cooperative scheduler requires a normal simple Tick ISR to
|
| 212 |
|
|
// simply increment the system tick.
|
| 213 |
|
|
#if configUSE_PREEMPTION == 0
|
| 214 |
|
|
// nothing to do here
|
| 215 |
|
|
#else
|
| 216 |
|
|
/* Save the context of the current task. */
|
| 217 |
|
|
portSAVE_CONTEXT();
|
| 218 |
|
|
|
| 219 |
|
|
/* Find the highest priority task that is ready to run. */
|
| 220 |
|
|
vTaskSwitchContext();
|
| 221 |
|
|
|
| 222 |
|
|
portRESTORE_CONTEXT();
|
| 223 |
|
|
#endif
|
| 224 |
|
|
}
|
| 225 |
|
|
#endif
|
