2 FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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75 /* Demo app includes. */
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76 #include "USBSample.h"
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78 #define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 )
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80 #define usbCSR_CLEAR_BIT( pulValueNow, ulBit ) \
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82 /* Set TXCOMP, RX_DATA_BK0, RXSETUP, */ \
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83 /* STALLSENT and RX_DATA_BK1 to 1 so the */ \
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84 /* write has no effect. */ \
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85 ( * ( ( unsigned long * ) pulValueNow ) ) |= ( unsigned long ) 0x4f; \
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87 /* Clear the FORCE_STALL and TXPKTRDY bits */ \
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88 /* so the write has no effect. */ \
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89 ( * ( ( unsigned long * ) pulValueNow ) ) &= ( unsigned long ) 0xffffffcf; \
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91 /* Clear whichever bit we want clear. */ \
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92 ( * ( ( unsigned long * ) pulValueNow ) ) &= ( ~ulBit ); \
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96 /*-----------------------------------------------------------*/
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102 void vUSB_ISR_Wrapper( void ) __attribute__((naked));
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105 * Actual ISR handler. This must be separate from the entry point as the stack
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108 void vUSB_ISR_Handler( void ) __attribute__((noinline));
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110 /*-----------------------------------------------------------*/
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112 /* Array in which the USB interrupt status is passed between the ISR and task. */
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113 static xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ];
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115 /* Queue used to pass messages between the ISR and the task. */
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116 extern QueueHandle_t xUSBInterruptQueue;
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118 /*-----------------------------------------------------------*/
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120 void vUSB_ISR_Handler( void )
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122 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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123 static volatile unsigned long ulNextMessage = 0;
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124 xISRStatus *pxMessage;
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125 unsigned long ulTemp, ulRxBytes;
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127 /* To reduce the amount of time spent in this interrupt it would be
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128 possible to defer the majority of this processing to an 'interrupt task',
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129 that is a task that runs at a higher priority than any of the application
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132 /* Take the next message from the queue. Note that usbQUEUE_LENGTH *must*
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133 be all 1's, as in 0x01, 0x03, 0x07, etc. */
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134 pxMessage = &( xISRMessages[ ( ulNextMessage & usbQUEUE_LENGTH ) ] );
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137 /* Take a snapshot of the current USB state for processing at the task
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139 pxMessage->ulISR = AT91C_BASE_UDP->UDP_ISR;
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140 pxMessage->ulCSR0 = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
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142 /* Clear the interrupts from the ICR register. The bus end interrupt is
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143 cleared separately as it does not appear in the mask register. */
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144 AT91C_BASE_UDP->UDP_ICR = AT91C_BASE_UDP->UDP_IMR | AT91C_UDP_ENDBUSRES;
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146 /* If there are bytes in the FIFO then we have to retrieve them here.
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147 Ideally this would be done at the task level. However we need to clear the
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148 RXSETUP interrupt before leaving the ISR, and this may cause the data in
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149 the FIFO to be overwritten. Also the DIR bit has to be changed before the
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150 RXSETUP bit is cleared (as per the SAM7 manual). */
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151 ulTemp = pxMessage->ulCSR0;
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153 /* Are there any bytes in the FIFO? */
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154 ulRxBytes = ulTemp >> 16;
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155 ulRxBytes &= usbRX_COUNT_MASK;
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157 /* With this minimal implementation we are only interested in receiving
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158 setup bytes on the control end point. */
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159 if( ( ulRxBytes > 0 ) && ( ulTemp & AT91C_UDP_RXSETUP ) )
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161 /* Take off 1 for a zero based index. */
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162 while( ulRxBytes > 0 )
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165 pxMessage->ucFifoData[ ulRxBytes ] = AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ];
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168 /* The direction must be changed first. */
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169 usbCSR_SET_BIT( &ulTemp, ( AT91C_UDP_DIR ) );
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170 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
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173 /* Must write zero's to TXCOMP, STALLSENT, RXSETUP, and the RX DATA
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174 registers to clear the interrupts in the CSR register. */
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175 usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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176 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
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178 /* Also clear the interrupts in the CSR1 register. */
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179 ulTemp = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ];
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180 usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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181 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] = ulTemp;
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183 /* The message now contains the entire state and optional data from
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184 the USB interrupt. This can now be posted on the Rx queue ready for
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185 processing at the task level. */
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186 xQueueSendFromISR( xUSBInterruptQueue, &pxMessage, &xHigherPriorityTaskWoken );
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188 /* We may want to switch to the USB task, if this message has made
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189 it the highest priority task that is ready to execute. */
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190 if( xHigherPriorityTaskWoken )
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192 portYIELD_FROM_ISR();
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195 /* Clear the AIC ready for the next interrupt. */
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196 AT91C_BASE_AIC->AIC_EOICR = 0;
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198 /*-----------------------------------------------------------*/
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200 void vUSB_ISR_Wrapper( void )
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202 /* Save the context of the interrupted task. */
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203 portSAVE_CONTEXT();
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205 /* Call the handler itself. This must be a separate function as it uses
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207 __asm volatile ("bl vUSB_ISR_Handler");
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209 /* Restore the context of the task that is going to
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210 execute next. This might not be the same as the originally
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211 interrupted task.*/
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212 portRESTORE_CONTEXT();
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