Initial version
This commit is contained in:
329
FreeRTOSv10.2.1/FreeRTOS/Source/portable/Renesas/RX600/port.c
Normal file
329
FreeRTOSv10.2.1/FreeRTOS/Source/portable/Renesas/RX600/port.c
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@ -0,0 +1,329 @@
|
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/*
|
||||
* FreeRTOS Kernel V10.2.1
|
||||
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* http://www.FreeRTOS.org
|
||||
* http://aws.amazon.com/freertos
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
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||||
|
||||
/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the RX600 port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler includes. */
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||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
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||||
|
||||
/* Library includes. */
|
||||
#include "string.h"
|
||||
|
||||
/* Hardware specifics. */
|
||||
#include "iodefine.h"
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||||
|
||||
/*-----------------------------------------------------------*/
|
||||
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||||
/* Tasks should start with interrupts enabled and in Supervisor mode, therefore
|
||||
PSW is set with U and I set, and PM and IPL clear. */
|
||||
#define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )
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#define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )
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||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
|
||||
and therefore installed in the vector table, when the FreeRTOS code is built
|
||||
as a library. */
|
||||
extern BaseType_t vSoftwareInterruptEntry;
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||||
const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Function to start the first task executing - written in asm code as direct
|
||||
* access to registers is required.
|
||||
*/
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||||
static void prvStartFirstTask( void );
|
||||
|
||||
/*
|
||||
* Software interrupt handler. Performs the actual context switch (saving and
|
||||
* restoring of registers). Written in asm code as direct register access is
|
||||
* required.
|
||||
*/
|
||||
static void prvYieldHandler( void );
|
||||
|
||||
/*
|
||||
* The entry point for the software interrupt handler. This is the function
|
||||
* that calls the inline asm function prvYieldHandler(). It is installed in
|
||||
* the vector table, but the code that installs it is in prvYieldHandler rather
|
||||
* than using a #pragma.
|
||||
*/
|
||||
void vSoftwareInterruptISR( void );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* This is accessed by the inline assembler functions so is file scope for
|
||||
convenience. */
|
||||
extern void *pxCurrentTCB;
|
||||
extern void vTaskSwitchContext( void );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
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||||
* See header file for description.
|
||||
*/
|
||||
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
||||
{
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||||
/* R0 is not included as it is the stack pointer. */
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*pxTopOfStack = 0x00;
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_PSW;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) pxCode;
|
||||
|
||||
/* When debugging it can be useful if every register is set to a known
|
||||
value. Otherwise code space can be saved by just setting the registers
|
||||
that need to be set. */
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#ifdef USE_FULL_REGISTER_INITIALISATION
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||||
{
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||||
pxTopOfStack--;
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*pxTopOfStack = 0xffffffff; /* r15. */
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pxTopOfStack--;
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*pxTopOfStack = 0xeeeeeeee;
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||||
pxTopOfStack--;
|
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*pxTopOfStack = 0xdddddddd;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0xcccccccc;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0xbbbbbbbb;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0xaaaaaaaa;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x99999999;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x88888888;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x77777777;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x66666666;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x55555555;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x44444444;
|
||||
pxTopOfStack--;
|
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*pxTopOfStack = 0x33333333;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x22222222;
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pxTopOfStack--;
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}
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||||
#else
|
||||
{
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pxTopOfStack -= 15;
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}
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#endif
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|
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*pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_FPSW;
|
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pxTopOfStack--;
|
||||
*pxTopOfStack = 0x12345678; /* Accumulator. */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = 0x87654321; /* Accumulator. */
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
BaseType_t xPortStartScheduler( void )
|
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{
|
||||
extern void vApplicationSetupTimerInterrupt( void );
|
||||
|
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/* Use pxCurrentTCB just so it does not get optimised away. */
|
||||
if( pxCurrentTCB != NULL )
|
||||
{
|
||||
/* Call an application function to set up the timer that will generate the
|
||||
tick interrupt. This way the application can decide which peripheral to
|
||||
use. A demo application is provided to show a suitable example. */
|
||||
vApplicationSetupTimerInterrupt();
|
||||
|
||||
/* Enable the software interrupt. */
|
||||
_IEN( _ICU_SWINT ) = 1;
|
||||
|
||||
/* Ensure the software interrupt is clear. */
|
||||
_IR( _ICU_SWINT ) = 0;
|
||||
|
||||
/* Ensure the software interrupt is set to the kernel priority. */
|
||||
_IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
|
||||
|
||||
/* Start the first task. */
|
||||
prvStartFirstTask();
|
||||
}
|
||||
|
||||
/* Just to make sure the function is not optimised away. */
|
||||
( void ) vSoftwareInterruptISR();
|
||||
|
||||
/* Should not get here. */
|
||||
return pdFAIL;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#pragma inline_asm prvStartFirstTask
|
||||
static void prvStartFirstTask( void )
|
||||
{
|
||||
/* When starting the scheduler there is nothing that needs moving to the
|
||||
interrupt stack because the function is not called from an interrupt.
|
||||
Just ensure the current stack is the user stack. */
|
||||
SETPSW U
|
||||
|
||||
/* Obtain the location of the stack associated with which ever task
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||||
pxCurrentTCB is currently pointing to. */
|
||||
MOV.L #_pxCurrentTCB, R15
|
||||
MOV.L [R15], R15
|
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MOV.L [R15], R0
|
||||
|
||||
/* Restore the registers from the stack of the task pointed to by
|
||||
pxCurrentTCB. */
|
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POP R15
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MVTACLO R15 /* Accumulator low 32 bits. */
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POP R15
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MVTACHI R15 /* Accumulator high 32 bits. */
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POP R15
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MVTC R15,FPSW /* Floating point status word. */
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POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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||||
RTE /* This pops the remaining registers. */
|
||||
NOP
|
||||
NOP
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
|
||||
void vTickISR( void )
|
||||
{
|
||||
/* Increment the tick, and perform any processing the new tick value
|
||||
necessitates. */
|
||||
set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
|
||||
{
|
||||
if( xTaskIncrementTick() != pdFALSE )
|
||||
{
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||||
taskYIELD();
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||||
}
|
||||
}
|
||||
set_ipl( configKERNEL_INTERRUPT_PRIORITY );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vSoftwareInterruptISR( void )
|
||||
{
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prvYieldHandler();
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}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
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#pragma inline_asm prvYieldHandler
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static void prvYieldHandler( void )
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{
|
||||
/* Re-enable interrupts. */
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||||
SETPSW I
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||||
|
||||
/* Move the data that was automatically pushed onto the interrupt stack when
|
||||
the interrupt occurred from the interrupt stack to the user stack.
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||||
|
||||
R15 is saved before it is clobbered. */
|
||||
PUSH.L R15
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|
||||
/* Read the user stack pointer. */
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MVFC USP, R15
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/* Move the address down to the data being moved. */
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SUB #12, R15
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MVTC R15, USP
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/* Copy the data across. */
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MOV.L [ R0 ], [ R15 ] ; R15
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MOV.L 4[ R0 ], 4[ R15 ] ; PC
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MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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/* Move the interrupt stack pointer to its new correct position. */
|
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ADD #12, R0
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|
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/* All the rest of the registers are saved directly to the user stack. */
|
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SETPSW U
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||||
/* Save the rest of the general registers (R15 has been saved already). */
|
||||
PUSHM R1-R14
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|
||||
/* Save the FPSW and accumulator. */
|
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MVFC FPSW, R15
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||||
PUSH.L R15
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||||
MVFACHI R15
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PUSH.L R15
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||||
MVFACMI R15 ; Middle order word.
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SHLL #16, R15 ; Shifted left as it is restored to the low order word.
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||||
PUSH.L R15
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/* Save the stack pointer to the TCB. */
|
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MOV.L #_pxCurrentTCB, R15
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MOV.L [ R15 ], R15
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||||
MOV.L R0, [ R15 ]
|
||||
|
||||
/* Ensure the interrupt mask is set to the syscall priority while the kernel
|
||||
structures are being accessed. */
|
||||
MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||||
|
||||
/* Select the next task to run. */
|
||||
BSR.A _vTaskSwitchContext
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||||
|
||||
/* Reset the interrupt mask as no more data structure access is required. */
|
||||
MVTIPL #configKERNEL_INTERRUPT_PRIORITY
|
||||
|
||||
/* Load the stack pointer of the task that is now selected as the Running
|
||||
state task from its TCB. */
|
||||
MOV.L #_pxCurrentTCB,R15
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MOV.L [ R15 ], R15
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||||
MOV.L [ R15 ], R0
|
||||
|
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/* Restore the context of the new task. The PSW (Program Status Word) and
|
||||
PC will be popped by the RTE instruction. */
|
||||
POP R15
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||||
MVTACLO R15
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POP R15
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||||
MVTACHI R15
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||||
POP R15
|
||||
MVTC R15,FPSW
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||||
POPM R1-R15
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||||
RTE
|
||||
NOP
|
||||
NOP
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* Not implemented in ports where there is nothing to return to.
|
||||
Artificially force an assert. */
|
||||
configASSERT( pxCurrentTCB == NULL );
|
||||
|
||||
/* The following line is just to prevent the symbol getting optimised away. */
|
||||
( void ) vTaskSwitchContext();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,41 @@
|
||||
;/*
|
||||
; * FreeRTOS Kernel V10.2.1
|
||||
; * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
; *
|
||||
; * Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
; * this software and associated documentation files (the "Software"), to deal in
|
||||
; * the Software without restriction, including without limitation the rights to
|
||||
; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
; * the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
; * subject to the following conditions:
|
||||
; *
|
||||
; * The above copyright notice and this permission notice shall be included in all
|
||||
; * copies or substantial portions of the Software.
|
||||
; *
|
||||
; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
; * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
; * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
; *
|
||||
; * http://www.FreeRTOS.org
|
||||
; * http://aws.amazon.com/freertos
|
||||
; *
|
||||
; * 1 tab == 4 spaces!
|
||||
; */
|
||||
.GLB _vSoftwareInterruptISR
|
||||
.GLB _vSoftwareInterruptEntry
|
||||
|
||||
.SECTION P,CODE
|
||||
|
||||
_vSoftwareInterruptEntry:
|
||||
|
||||
BRA _vSoftwareInterruptISR
|
||||
|
||||
.RVECTOR 27, _vSoftwareInterruptEntry
|
||||
|
||||
.END
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,142 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V10.2.1
|
||||
* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||
* this software and associated documentation files (the "Software"), to deal in
|
||||
* the Software without restriction, including without limitation the rights to
|
||||
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||
* subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
*
|
||||
* http://www.FreeRTOS.org
|
||||
* http://aws.amazon.com/freertos
|
||||
*
|
||||
* 1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Hardware specifics. */
|
||||
#include "machine.h"
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Port specific definitions.
|
||||
*
|
||||
* The settings in this file configure FreeRTOS correctly for the
|
||||
* given hardware and compiler.
|
||||
*
|
||||
* These settings should not be altered.
|
||||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* Type definitions - these are a bit legacy and not really used now, other than
|
||||
portSTACK_TYPE and portBASE_TYPE. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
#define portSTACK_TYPE uint32_t
|
||||
#define portBASE_TYPE long
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef long BaseType_t;
|
||||
typedef unsigned long UBaseType_t;
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef uint16_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffff
|
||||
#else
|
||||
typedef uint32_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||
|
||||
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
|
||||
not need to be guarded with a critical section. */
|
||||
#define portTICK_TYPE_IS_ATOMIC 1
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Hardware specifics. */
|
||||
#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */
|
||||
#define portSTACK_GROWTH -1
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portNOP() nop()
|
||||
|
||||
|
||||
#pragma inline_asm vPortYield
|
||||
static void vPortYield( void )
|
||||
{
|
||||
/* Save clobbered register - may not actually be necessary if inline asm
|
||||
functions are considered to use the same rules as function calls by the
|
||||
compiler. */
|
||||
PUSH.L R5
|
||||
/* Set ITU SWINTR. */
|
||||
MOV.L #553696, R5
|
||||
MOV.B #1, [R5]
|
||||
/* Read back to ensure the value is taken before proceeding. */
|
||||
MOV.L [R5], R5
|
||||
/* Restore clobbered register to its previous value. */
|
||||
POP R5
|
||||
}
|
||||
#define portYIELD() vPortYield()
|
||||
#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD()
|
||||
|
||||
/* These macros should not be called directly, but through the
|
||||
taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is
|
||||
performed if configASSERT() is defined to ensure an assertion handler does not
|
||||
inadvertently attempt to lower the IPL when the call to assert was triggered
|
||||
because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY
|
||||
when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API
|
||||
functions are those that end in FromISR. FreeRTOS maintains a separate
|
||||
interrupt API to ensure API function and interrupt entry is as fast and as
|
||||
simple as possible. */
|
||||
#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 )
|
||||
#ifdef configASSERT
|
||||
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) )
|
||||
#define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#else
|
||||
#define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#endif
|
||||
|
||||
/* Critical nesting counts are stored in the TCB. */
|
||||
#define portCRITICAL_NESTING_IN_TCB ( 1 )
|
||||
|
||||
/* The critical nesting functions defined within tasks.c. */
|
||||
extern void vTaskEnterCritical( void );
|
||||
extern void vTaskExitCritical( void );
|
||||
#define portENTER_CRITICAL() vTaskEnterCritical()
|
||||
#define portEXIT_CRITICAL() vTaskExitCritical()
|
||||
|
||||
/* As this port allows interrupt nesting... */
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Reference in New Issue
Block a user