259 lines
8.5 KiB
C
259 lines
8.5 KiB
C
/*
|
|
* 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!
|
|
*/
|
|
|
|
/*-----------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for the ST STR71x ARM7
|
|
* port.
|
|
*----------------------------------------------------------*/
|
|
|
|
/* Library includes. */
|
|
#include "wdg.h"
|
|
#include "eic.h"
|
|
|
|
/* Standard includes. */
|
|
#include <stdlib.h>
|
|
|
|
/* Scheduler includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Constants required to setup the initial stack. */
|
|
#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
|
|
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
|
|
#define portINSTRUCTION_SIZE ( ( StackType_t ) 4 )
|
|
|
|
/* Constants required to handle critical sections. */
|
|
#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )
|
|
|
|
#define portMICROS_PER_SECOND 1000000
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Setup the watchdog to generate the tick interrupts. */
|
|
static void prvSetupTimerInterrupt( void );
|
|
|
|
/* ulCriticalNesting will get set to zero when the first task starts. It
|
|
cannot be initialised to 0 as this will cause interrupts to be enabled
|
|
during the kernel initialisation process. */
|
|
uint32_t ulCriticalNesting = ( uint32_t ) 9999;
|
|
|
|
/* Tick interrupt routines for cooperative and preemptive operation
|
|
respectively. The preemptive version is not defined as __irq as it is called
|
|
from an asm wrapper function. */
|
|
__arm __irq void vPortNonPreemptiveTick( void );
|
|
void vPortPreemptiveTick( void );
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Initialise the stack of a task to look exactly as if a call to
|
|
* portSAVE_CONTEXT had been called.
|
|
*
|
|
* See header file for description.
|
|
*/
|
|
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
|
{
|
|
StackType_t *pxOriginalTOS;
|
|
|
|
pxOriginalTOS = pxTopOfStack;
|
|
|
|
/* To ensure asserts in tasks.c don't fail, although in this case the assert
|
|
is not really required. */
|
|
pxTopOfStack--;
|
|
|
|
/* Setup the initial stack of the task. The stack is set exactly as
|
|
expected by the portRESTORE_CONTEXT() macro. */
|
|
|
|
/* First on the stack is the return address - which in this case is the
|
|
start of the task. The offset is added to make the return address appear
|
|
as it would within an IRQ ISR. */
|
|
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
|
|
pxTopOfStack--;
|
|
|
|
*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa; /* R14 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
|
|
pxTopOfStack--;
|
|
|
|
/* When the task starts is will expect to find the function parameter in
|
|
R0. */
|
|
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
|
|
pxTopOfStack--;
|
|
|
|
/* The status register is set for system mode, with interrupts enabled. */
|
|
*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
|
|
|
|
if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL )
|
|
{
|
|
/* We want the task to start in thumb mode. */
|
|
*pxTopOfStack |= portTHUMB_MODE_BIT;
|
|
}
|
|
|
|
pxTopOfStack--;
|
|
|
|
/* Interrupt flags cannot always be stored on the stack and will
|
|
instead be stored in a variable, which is then saved as part of the
|
|
tasks context. */
|
|
*pxTopOfStack = portNO_CRITICAL_NESTING;
|
|
|
|
return pxTopOfStack;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
extern void vPortStartFirstTask( void );
|
|
|
|
/* Start the timer that generates the tick ISR. Interrupts are disabled
|
|
here already. */
|
|
prvSetupTimerInterrupt();
|
|
|
|
/* Start the first task. */
|
|
vPortStartFirstTask();
|
|
|
|
/* Should not get here! */
|
|
return 0;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* It is unlikely that the ARM port will require this function as there
|
|
is nothing to return to. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* The cooperative scheduler requires a normal IRQ service routine to
|
|
simply increment the system tick. */
|
|
__arm __irq void vPortNonPreemptiveTick( void )
|
|
{
|
|
/* Increment the tick count - which may wake some tasks but as the
|
|
preemptive scheduler is not being used any woken task is not given
|
|
processor time no matter what its priority. */
|
|
xTaskIncrementTick();
|
|
|
|
/* Clear the interrupt in the watchdog and EIC. */
|
|
WDG->SR = 0x0000;
|
|
portCLEAR_EIC();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* This function is called from an asm wrapper, so does not require the __irq
|
|
keyword. */
|
|
void vPortPreemptiveTick( void )
|
|
{
|
|
/* Increment the tick counter. */
|
|
if( xTaskIncrementTick() != pdFALSE )
|
|
{
|
|
/* Select a new task to execute. */
|
|
vTaskSwitchContext();
|
|
}
|
|
|
|
/* Clear the interrupt in the watchdog and EIC. */
|
|
WDG->SR = 0x0000;
|
|
portCLEAR_EIC();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSetupTimerInterrupt( void )
|
|
{
|
|
/* Set the watchdog up to generate a periodic tick. */
|
|
WDG_ECITConfig( DISABLE );
|
|
WDG_CntOnOffConfig( DISABLE );
|
|
WDG_PeriodValueConfig( portMICROS_PER_SECOND / configTICK_RATE_HZ );
|
|
|
|
/* Setup the tick interrupt in the EIC. */
|
|
EIC_IRQChannelPriorityConfig( WDG_IRQChannel, 1 );
|
|
EIC_IRQChannelConfig( WDG_IRQChannel, ENABLE );
|
|
EIC_IRQConfig( ENABLE );
|
|
WDG_ECITConfig( ENABLE );
|
|
|
|
/* Start the timer - interrupts are actually disabled at this point so
|
|
it is safe to do this here. */
|
|
WDG_CntOnOffConfig( ENABLE );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
__arm __interwork void vPortEnterCritical( void )
|
|
{
|
|
/* Disable interrupts first! */
|
|
__disable_interrupt();
|
|
|
|
/* 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++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
__arm __interwork 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_interrupt();
|
|
}
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
|
|
|