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[/] [openrisc/] [trunk/] [rtos/] [freertos-6.1.1/] [Source/] [portable/] [GCC/] [ARM7_AT91FR40008/] [portISR.c] - Rev 577
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/* FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd. *************************************************************************** * * * If you are: * * * * + New to FreeRTOS, * * + Wanting to learn FreeRTOS or multitasking in general quickly * * + Looking for basic training, * * + Wanting to improve your FreeRTOS skills and productivity * * * * then take a look at the FreeRTOS books - available as PDF or paperback * * * * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * * http://www.FreeRTOS.org/Documentation * * * * A pdf reference manual is also available. Both are usually delivered * * to your inbox within 20 minutes to two hours when purchased between 8am * * and 8pm GMT (although please allow up to 24 hours in case of * * exceptional circumstances). Thank you for your support! * * * *************************************************************************** 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 exception 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. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License and the FreeRTOS license exception along with FreeRTOS; if not it can be viewed here: http://www.freertos.org/a00114.html and also obtained by writing to Richard Barry, contact details for whom are available on the FreeRTOS WEB site. 1 tab == 4 spaces! http://www.FreeRTOS.org - Documentation, latest information, license and contact details. http://www.SafeRTOS.com - A version that is certified for use in safety critical systems. http://www.OpenRTOS.com - Commercial support, development, porting, licensing and training services. */ /*----------------------------------------------------------- * Components that can be compiled to either ARM or THUMB mode are * contained in port.c The ISR routines, which can only be compiled * to ARM mode, are contained in this file. *----------------------------------------------------------*/ /* Changes from V3.2.4 + The assembler statements are now included in a single asm block rather than each line having its own asm block. */ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /* Constants required to handle interrupts. */ #define portCLEAR_AIC_INTERRUPT ( ( unsigned long ) 0 ) /* Constants required to handle critical sections. */ #define portNO_CRITICAL_NESTING ( ( unsigned long ) 0 ) volatile unsigned long ulCriticalNesting = 9999UL; /*-----------------------------------------------------------*/ /* ISR to handle manual context switches (from a call to taskYIELD()). */ void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked)); /* * The scheduler can only be started from ARM mode, hence the inclusion of this * function here. */ void vPortISRStartFirstTask( void ); /*-----------------------------------------------------------*/ void vPortISRStartFirstTask( void ) { /* Simply start the scheduler. This is included here as it can only be called from ARM mode. */ portRESTORE_CONTEXT(); } /*-----------------------------------------------------------*/ /* * Called by portYIELD() or taskYIELD() to manually force a context switch. * * When a context switch is performed from the task level the saved task * context is made to look as if it occurred from within the tick ISR. This * way the same restore context function can be used when restoring the context * saved from the ISR or that saved from a call to vPortYieldProcessor. */ void vPortYieldProcessor( void ) { /* Within an IRQ ISR the link register has an offset from the true return address, but an SWI ISR does not. Add the offset manually so the same ISR return code can be used in both cases. */ asm volatile ( "ADD LR, LR, #4" ); /* Perform the context switch. First save the context of the current task. */ portSAVE_CONTEXT(); /* Find the highest priority task that is ready to run. */ vTaskSwitchContext(); /* Restore the context of the new task. */ portRESTORE_CONTEXT(); } /*-----------------------------------------------------------*/ /* * The ISR used for the scheduler tick depends on whether the cooperative or * the preemptive scheduler is being used. */ #if configUSE_PREEMPTION == 0 /* The cooperative scheduler requires a normal IRQ service routine to simply increment the system tick. */ void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ"))); void vNonPreemptiveTick( void ) { static volatile unsigned long ulDummy; /* Clear tick timer interrupt indication. */ ulDummy = portTIMER_REG_BASE_PTR->TC_SR; vTaskIncrementTick(); /* Acknowledge the interrupt at AIC level... */ AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; } #else /* else preemption is turned on */ /* The preemptive scheduler is defined as "naked" as the full context is saved on entry as part of the context switch. */ void vPreemptiveTick( void ) __attribute__((naked)); void vPreemptiveTick( void ) { /* Save the context of the interrupted task. */ portSAVE_CONTEXT(); /* WARNING - Do not use local (stack) variables here. Use globals if you must! */ static volatile unsigned long ulDummy; /* Clear tick timer interrupt indication. */ ulDummy = portTIMER_REG_BASE_PTR->TC_SR; /* Increment the RTOS tick count, then look for the highest priority task that is ready to run. */ vTaskIncrementTick(); vTaskSwitchContext(); /* Acknowledge the interrupt at AIC level... */ AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT; /* Restore the context of the new task. */ portRESTORE_CONTEXT(); } #endif /*-----------------------------------------------------------*/ /* * The interrupt management utilities can only be called from ARM mode. When * THUMB_INTERWORK is defined the utilities are defined as functions here to * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then * the utilities are defined as macros in portmacro.h - as per other ports. */ #ifdef THUMB_INTERWORK void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked)); void vPortDisableInterruptsFromThumb( void ) { asm volatile ( "STMDB SP!, {R0} \n\t" /* Push R0. */ "MRS R0, CPSR \n\t" /* Get CPSR. */ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "MSR CPSR, R0 \n\t" /* Write back modified value. */ "LDMIA SP!, {R0} \n\t" /* Pop R0. */ "BX R14" ); /* Return back to thumb. */ } void vPortEnableInterruptsFromThumb( void ) { asm volatile ( "STMDB SP!, {R0} \n\t" /* Push R0. */ "MRS R0, CPSR \n\t" /* Get CPSR. */ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "MSR CPSR, R0 \n\t" /* Write back modified value. */ "LDMIA SP!, {R0} \n\t" /* Pop R0. */ "BX R14" ); /* Return back to thumb. */ } #endif /* THUMB_INTERWORK */ /* The code generated by the GCC compiler uses the stack in different ways at different optimisation levels. The interrupt flags can therefore not always be saved to the stack. Instead the critical section nesting level is stored in a variable, which is then saved as part of the stack context. */ void vPortEnterCritical( void ) { /* Disable interrupts as per portDISABLE_INTERRUPTS(); */ asm volatile ( "STMDB SP!, {R0} \n\t" /* Push R0. */ "MRS R0, CPSR \n\t" /* Get CPSR. */ "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */ "MSR CPSR, R0 \n\t" /* Write back modified value. */ "LDMIA SP!, {R0}" ); /* Pop R0. */ /* Now 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 interrupts as per portEXIT_CRITICAL(). */ asm volatile ( "STMDB SP!, {R0} \n\t" /* Push R0. */ "MRS R0, CPSR \n\t" /* Get CPSR. */ "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */ "MSR CPSR, R0 \n\t" /* Write back modified value. */ "LDMIA SP!, {R0}" ); /* Pop R0. */ } } }
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