2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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77 #include <embedded.h>
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78 #include "FreeRTOS.h"
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79 #include "portasm.h"
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84 #define serMAX_PORTS ( ( unsigned short ) 2 )
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86 #define serPORT_0_INT_REG ( 0xff44 )
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87 #define serPORT_0_BAUD_REG ( 0xff88 )
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88 #define serPORT_0_RX_REG ( 0xff86 )
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89 #define serPORT_0_TX_REG ( 0xff84 )
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90 #define serPORT_0_STATUS_REG ( 0xff82 )
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91 #define serPORT_0_CTRL_REG ( 0xff80 )
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92 #define serPORT_0_IRQ ( 0x14 )
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94 #define serPORT_1_INT_REG ( 0xff42 )
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95 #define serPORT_1_BAUD_REG ( 0xff18 )
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96 #define serPORT_1_RX_REG ( 0xff16 )
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97 #define serPORT_1_TX_REG ( 0xff14 )
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98 #define serPORT_1_STATUS_REG ( 0xff12 )
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99 #define serPORT_1_CTRL_REG ( 0xff10 )
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100 #define serPORT_1_IRQ ( 0x11 )
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102 #define serTX_EMPTY ( ( unsigned short ) 0x40 )
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103 #define serRX_READY ( ( unsigned short ) 0x80 )
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105 #define serRESET_PIC( usEOI_TYPE ) portOUTPUT_WORD( ( unsigned short ) 0xff22, usEOI_TYPE )
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106 #define serTX_HOLD_EMPTY_INT ( ( unsigned short ) 0x100 )
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108 #define serENABLE_INTERRUPTS ( ( unsigned short ) 0x80 )
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109 #define serMODE ( ( unsigned short ) 0x01 )
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110 #define serENABLE_TX_MACHINES ( ( unsigned short ) 0x40 )
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111 #define serENABLE_RX_MACHINES ( ( unsigned short ) 0x20 )
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112 #define serINTERRUPT_MASK ( ( unsigned short ) 0x08 )
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113 #define serCLEAR_ALL_STATUS_BITS ( ( unsigned short ) 0x00 )
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114 #define serINTERRUPT_PRIORITY ( ( unsigned short ) 0x01 ) /*< Just below the scheduler priority. */
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116 #define serDONT_BLOCK ( ( portTickType ) 0 )
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174 typedef struct xCOM_PORT
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176 /* Hardware parameters for this port. */
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177 short sTxInterruptOn;
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178 unsigned short usIntReg;
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179 unsigned short usBaudReg;
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180 unsigned short usRxReg;
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181 unsigned short usTxReg;
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182 unsigned short usStatusReg;
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183 unsigned short usCtrlReg;
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185 unsigned short usIRQVector;
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187 /* Queues used for communications with com test task. */
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188 xQueueHandle xRxedChars;
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189 xQueueHandle xCharsForTx;
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191 /* This semaphore does nothing useful except test a feature of the
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193 xSemaphoreHandle xTestSem;
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197 static xComPort xPorts[ serMAX_PORTS ] =
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199 { pdFALSE, serPORT_0_INT_REG, serPORT_0_BAUD_REG, serPORT_0_RX_REG, serPORT_0_TX_REG, serPORT_0_STATUS_REG, serPORT_0_CTRL_REG, serPORT_0_IRQ, NULL, NULL, NULL },
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200 { pdFALSE, serPORT_1_INT_REG, serPORT_1_BAUD_REG, serPORT_1_RX_REG, serPORT_1_TX_REG, serPORT_1_STATUS_REG, serPORT_1_CTRL_REG, serPORT_1_IRQ, NULL, NULL, NULL }
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203 typedef xComPort * xComPortHandle;
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206 * Lookup the baud rate from the enum.
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208 static unsigned long prvBaud( eBaud eWantedBaud );
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210 /* These prototypes are repeated here so we don't have to include the serial header. This allows
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211 the xComPortHandle structure details to be private to this file. */
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212 xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength );
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213 portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, char *pcRxedChar, portTickType xBlockTime );
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214 portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, char cOutChar, portTickType xBlockTime );
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215 void vSerialClose( xComPortHandle xPort );
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216 short sSerialWaitForSemaphore( xComPortHandle xPort );
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217 /*-----------------------------------------------------------*/
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219 static short xComPortISR( xComPort * const pxPort );
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221 #define vInterruptOn( pxPort, usInterrupt ) \
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223 unsigned short usIn; \
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225 portENTER_CRITICAL(); \
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227 if( pxPort->sTxInterruptOn == pdFALSE ) \
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229 usIn = portINPUT_WORD( pxPort->usCtrlReg ); \
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230 portOUTPUT_WORD( pxPort->usCtrlReg, usIn | usInterrupt ); \
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232 pxPort->sTxInterruptOn = pdTRUE; \
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235 portEXIT_CRITICAL(); \
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237 /*-----------------------------------------------------------*/
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239 #define vInterruptOff( pxPort, usInterrupt ) \
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241 unsigned short usIn = portINPUT_WORD( pxPort->usCtrlReg ); \
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242 if( usIn & usInterrupt ) \
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244 portOUTPUT_WORD( pxPort->usCtrlReg, usIn & ~usInterrupt); \
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245 pxPort->sTxInterruptOn = pdFALSE; \
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248 /*-----------------------------------------------------------*/
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251 /* Define an interrupt handler for each port */
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252 #define COM_IRQ_WRAPPER(N) \
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253 static void __interrupt COM_IRQ##N##_WRAPPER( void ) \
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255 if( xComPortISR( &( xPorts[##N##] ) ) ) \
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257 portEND_SWITCHING_ISR(); \
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263 COM_IRQ_WRAPPER( 0 )
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264 COM_IRQ_WRAPPER( 1 )
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266 static pxISR xISRs[ serMAX_PORTS ] =
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272 /*-----------------------------------------------------------*/
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274 static unsigned long prvBaud( eBaud eWantedBaud )
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276 switch( eWantedBaud )
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278 case ser50 : return 50UL;
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279 case ser75 : return 75UL;
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280 case ser110 : return 110UL;
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281 case ser134 : return 134UL;
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282 case ser150 : return 150UL;
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283 case ser200 : return 200UL;
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284 case ser300 : return 300UL;
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285 case ser600 : return 600UL;
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286 case ser1200 : return 1200UL;
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287 case ser1800 : return 1800UL;
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288 case ser2400 : return 2400UL;
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289 case ser4800 : return 4800UL;
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290 case ser19200 : return 19200UL;
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291 case ser38400 : return 38400UL;
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292 case ser57600 : return 57600UL;
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293 case ser115200 : return 115200UL;
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294 default : return 9600UL;
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298 /*-----------------------------------------------------------*/
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300 xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength )
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302 unsigned short usPort;
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303 xComPortHandle pxPort = NULL;
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304 unsigned long ulBaudDiv;
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306 /* BAUDDIV = ( Microprocessor Clock / Baud Rate ) / 16 */
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307 ulBaudDiv = ( configCPU_CLOCK_HZ / prvBaud( eWantedBaud ) ) / 16UL;
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309 /* Only n, 8, 1 is supported so these parameters are not required for this
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311 ( void ) eWantedParity;
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312 ( void ) eWantedDataBits;
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313 ( void ) eWantedStopBits;
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315 /* Currently only n,8,1 is supported. */
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317 usPort = ( unsigned short ) ePort;
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319 if( usPort < serMAX_PORTS )
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321 pxPort = &( xPorts[ usPort ] );
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323 portENTER_CRITICAL();
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325 unsigned short usInWord;
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327 /* Create the queues used by the com test task. */
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328 pxPort->xRxedChars = xQueueCreate( uxBufferLength, ( unsigned portBASE_TYPE ) sizeof( char ) );
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329 pxPort->xCharsForTx = xQueueCreate( uxBufferLength, ( unsigned portBASE_TYPE ) sizeof( char ) );
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331 /* Create the test semaphore. This does nothing useful except test a feature of the scheduler. */
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332 vSemaphoreCreateBinary( pxPort->xTestSem );
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334 /* There is no ISR here already to restore later. */
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335 setvect( ( short ) pxPort->usIRQVector, xISRs[ usPort ] );
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337 usInWord = portINPUT_WORD( pxPort->usIntReg );
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338 usInWord &= ~serINTERRUPT_MASK;
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339 usInWord |= serINTERRUPT_PRIORITY;
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340 portOUTPUT_WORD( pxPort->usIntReg, usInWord );
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342 portOUTPUT_WORD( pxPort->usBaudReg, ( unsigned short ) ulBaudDiv );
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343 portOUTPUT_WORD( pxPort->usCtrlReg, serENABLE_INTERRUPTS | serMODE | serENABLE_TX_MACHINES | serENABLE_RX_MACHINES );
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345 portOUTPUT_WORD( pxPort->usStatusReg, serCLEAR_ALL_STATUS_BITS );
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347 portEXIT_CRITICAL();
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351 } /*lint !e715 Some parameters are not used as only a subset of the serial port functionality is currently implemented. */
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352 /*-----------------------------------------------------------*/
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354 void vSerialPutString( xComPortHandle pxPort, const char * const pcString, unsigned short usStringLength )
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356 unsigned short usByte;
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359 pcNextChar = ( char * ) pcString;
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361 for( usByte = 0; usByte < usStringLength; usByte++ )
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363 xQueueSend( pxPort->xCharsForTx, pcNextChar, serDONT_BLOCK );
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367 vInterruptOn( pxPort, serTX_HOLD_EMPTY_INT );
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369 /*-----------------------------------------------------------*/
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371 portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, char *pcRxedChar, portTickType xBlockTime )
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373 /* Get the next character from the buffer, note that this routine is only
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374 called having checked that the is (at least) one to get */
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375 if( xQueueReceive( pxPort->xRxedChars, pcRxedChar, xBlockTime ) )
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384 /*-----------------------------------------------------------*/
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386 portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, char cOutChar, portTickType xBlockTime )
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388 if( xQueueSend( pxPort->xCharsForTx, &cOutChar, xBlockTime ) != pdPASS )
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393 vInterruptOn( pxPort, serTX_HOLD_EMPTY_INT );
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397 /*-----------------------------------------------------------*/
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399 portBASE_TYPE xSerialWaitForSemaphore( xComPortHandle xPort )
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401 const portTickType xBlockTime = ( portTickType ) 0xffff;
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403 /* This function does nothing interesting, but test the
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404 semaphore from ISR mechanism. */
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405 return xSemaphoreTake( xPort->xTestSem, xBlockTime );
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407 /*-----------------------------------------------------------*/
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409 void vSerialClose( xComPortHandle xPort )
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411 unsigned short usOutput;
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413 /* Turn off the interrupts. We may also want to delete the queues and/or
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414 re-install the original ISR. */
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416 portENTER_CRITICAL();
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418 usOutput = portINPUT_WORD( xPort->usCtrlReg );
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420 usOutput &= ~serENABLE_INTERRUPTS;
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421 usOutput &= ~serENABLE_TX_MACHINES;
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422 usOutput &= ~serENABLE_RX_MACHINES;
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423 portOUTPUT_WORD( xPort->usCtrlReg, usOutput );
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425 usOutput = portINPUT_WORD( xPort->usIntReg );
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426 usOutput |= serINTERRUPT_MASK;
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427 portOUTPUT_WORD( xPort->usIntReg, usOutput );
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429 portEXIT_CRITICAL();
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431 /*-----------------------------------------------------------*/
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432 unsigned short usStatus;
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433 static portBASE_TYPE xComPortISR( xComPort * const pxPort )
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435 unsigned short usStatusRegister;
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437 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
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439 /* NOTE: THIS IS NOT AN EFFICIENT ISR AS IT IS DESIGNED SOLELY TO TEST
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440 THE SCHEDULER FUNCTIONALITY. REAL APPLICATIONS SHOULD NOT USE THIS
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443 usStatusRegister = portINPUT_WORD( pxPort->usStatusReg );
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445 if( usStatusRegister & serRX_READY )
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447 cChar = ( char ) portINPUT_WORD( pxPort->usRxReg );
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448 xQueueSendFromISR( pxPort->xRxedChars, &cChar, &xHigherPriorityTaskWoken );
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450 /* Also release the semaphore - this does nothing interesting and is just a test. */
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451 xSemaphoreGiveFromISR( pxPort->xTestSem, &xHigherPriorityTaskWoken );
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453 else if( pxPort->sTxInterruptOn && ( usStatusRegister & serTX_EMPTY ) )
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455 if( xQueueReceiveFromISR( pxPort->xCharsForTx, &cChar, &xHigherPriorityTaskWoken ) == pdTRUE )
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457 portOUTPUT_WORD( pxPort->usTxReg, ( unsigned short ) cChar );
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461 /* Queue empty, nothing to send */
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462 vInterruptOff( pxPort, serTX_HOLD_EMPTY_INT );
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466 serRESET_PIC( pxPort->usIRQVector );
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468 /* If posting to the queue woke a task that was blocked on the queue we may
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469 want to switch to the woken task - depending on its priority relative to
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470 the task interrupted by this ISR. */
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471 return xHigherPriorityTaskWoken;
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