/* FreeRTOS V7.5.0 - Copyright (C) 2013 Real Time Engineers Ltd. VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** 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 modification 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. Full license text is available from the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 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 /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /* Constants required to setup the initial stack. */ #define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */ #define portTHUMB_MODE_BIT ( ( portSTACK_TYPE ) 0x20 ) #define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 4 ) /* Constants required to handle critical sections. */ #define portNO_CRITICAL_NESTING ( ( unsigned long ) 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. */ unsigned long ulCriticalNesting = ( unsigned long ) 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. */ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) { portSTACK_TYPE *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 = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE; pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa; /* R14 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x12121212; /* R12 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x11111111; /* R11 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x10101010; /* R10 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x09090909; /* R9 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x08080808; /* R8 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x07070707; /* R7 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x06060606; /* R6 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x05050505; /* R5 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x04040404; /* R4 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x03030303; /* R3 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x02020202; /* R2 */ pxTopOfStack--; *pxTopOfStack = ( portSTACK_TYPE ) 0x01010101; /* R1 */ pxTopOfStack--; /* When the task starts is will expect to find the function parameter in R0. */ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ pxTopOfStack--; /* The status register is set for system mode, with interrupts enabled. */ *pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR; if( ( ( unsigned long ) 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; } /*-----------------------------------------------------------*/ portBASE_TYPE 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(); } } } /*-----------------------------------------------------------*/