2 FreeRTOS V8.0.1 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /*-----------------------------------------------------------
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67 * Implementation of functions defined in portable.h for the ARM CM4F port.
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68 *----------------------------------------------------------*/
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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74 /* Constants required to manipulate the NVIC. */
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75 #define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t * ) 0xe000e010 )
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76 #define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t * ) 0xe000e014 )
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77 #define portNVIC_SYSPRI2 ( ( volatile uint32_t * ) 0xe000ed20 )
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78 #define portNVIC_SYSTICK_CLK 0x00000004
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79 #define portNVIC_SYSTICK_INT 0x00000002
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80 #define portNVIC_SYSTICK_ENABLE 0x00000001
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81 #define portNVIC_PENDSV_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
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82 #define portNVIC_SYSTICK_PRI ( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
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84 /* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
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85 #define portVECTACTIVE_MASK ( 0x1FUL )
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87 /* Constants required to manipulate the VFP. */
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88 #define portFPCCR ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
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89 #define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
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91 /* Constants required to set up the initial stack. */
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92 #define portINITIAL_XPSR ( 0x01000000 )
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93 #define portINITIAL_EXEC_RETURN ( 0xfffffffd )
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95 /* Let the user override the pre-loading of the initial LR with the address of
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96 prvTaskExitError() in case is messes up unwinding of the stack in the
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98 #ifdef configTASK_RETURN_ADDRESS
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99 #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
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101 #define portTASK_RETURN_ADDRESS prvTaskExitError
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104 /* The priority used by the kernel is assigned to a variable to make access
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105 from inline assembler easier. */
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106 const uint32_t ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
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108 /* Each task maintains its own interrupt status in the critical nesting
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110 static uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
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113 * Setup the timer to generate the tick interrupts.
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115 static void prvSetupTimerInterrupt( void );
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118 * Exception handlers.
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120 void SysTick_Handler( void );
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123 * Functions defined in port_asm.asm.
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125 extern void vPortEnableVFP( void );
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126 extern void vPortStartFirstTask( void );
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129 * Used to catch tasks that attempt to return from their implementing function.
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131 static void prvTaskExitError( void );
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133 /* This exists purely to allow the const to be used from within the
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134 port_asm.asm assembly file. */
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135 const uint32_t ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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137 /*-----------------------------------------------------------*/
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140 * See header file for description.
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142 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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144 /* Simulate the stack frame as it would be created by a context switch
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147 /* Offset added to account for the way the MCU uses the stack on entry/exit
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148 of interrupts, and to ensure alignment. */
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151 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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153 *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
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155 *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
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157 /* Save code space by skipping register initialisation. */
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158 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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159 *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
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161 /* A save method is being used that requires each task to maintain its
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162 own exec return value. */
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164 *pxTopOfStack = portINITIAL_EXEC_RETURN;
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166 pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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168 return pxTopOfStack;
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170 /*-----------------------------------------------------------*/
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172 static void prvTaskExitError( void )
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174 /* A function that implements a task must not exit or attempt to return to
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175 its caller as there is nothing to return to. If a task wants to exit it
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176 should instead call vTaskDelete( NULL ).
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178 Artificially force an assert() to be triggered if configASSERT() is
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179 defined, then stop here so application writers can catch the error. */
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180 configASSERT( ulCriticalNesting == ~0UL );
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181 portDISABLE_INTERRUPTS();
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184 /*-----------------------------------------------------------*/
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187 * See header file for description.
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189 BaseType_t xPortStartScheduler( void )
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191 /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
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192 See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
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193 configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );
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195 /* Make PendSV and SysTick the lowest priority interrupts. */
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196 *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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197 *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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199 /* Start the timer that generates the tick ISR. Interrupts are disabled
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201 prvSetupTimerInterrupt();
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203 /* Initialise the critical nesting count ready for the first task. */
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204 ulCriticalNesting = 0;
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206 /* Ensure the VFP is enabled - it should be anyway. */
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209 /* Lazy save always. */
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210 *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
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212 /* Start the first task. */
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213 vPortStartFirstTask();
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215 /* Should not get here! */
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218 /*-----------------------------------------------------------*/
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220 void vPortEndScheduler( void )
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222 /* Not implemented in ports where there is nothing to return to.
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223 Artificially force an assert. */
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224 configASSERT( ulCriticalNesting == 1000UL );
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226 /*-----------------------------------------------------------*/
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228 void vPortYield( void )
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230 /* Set a PendSV to request a context switch. */
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231 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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233 /* Barriers are normally not required but do ensure the code is completely
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234 within the specified behaviour for the architecture. */
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238 /*-----------------------------------------------------------*/
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240 void vPortEnterCritical( void )
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242 portDISABLE_INTERRUPTS();
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243 ulCriticalNesting++;
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247 /* This is not the interrupt safe version of the enter critical function so
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248 assert() if it is being called from an interrupt context. Only API
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249 functions that end in "FromISR" can be used in an interrupt. Only assert if
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250 the critical nesting count is 1 to protect against recursive calls if the
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251 assert function also uses a critical section. */
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252 if( ulCriticalNesting == 1 )
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254 configASSERT( ( ( *(portNVIC_INT_CTRL) ) & portVECTACTIVE_MASK ) == 0 );
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257 /*-----------------------------------------------------------*/
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259 void vPortExitCritical( void )
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261 configASSERT( ulCriticalNesting );
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262 ulCriticalNesting--;
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263 if( ulCriticalNesting == 0 )
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265 portENABLE_INTERRUPTS();
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268 /*-----------------------------------------------------------*/
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270 void SysTick_Handler( void )
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274 ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
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276 if( xTaskIncrementTick() != pdFALSE )
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278 /* Pend a context switch. */
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279 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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282 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
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284 /*-----------------------------------------------------------*/
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287 * Setup the systick timer to generate the tick interrupts at the required
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290 void prvSetupTimerInterrupt( void )
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292 /* Configure SysTick to interrupt at the requested rate. */
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293 *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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294 *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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296 /*-----------------------------------------------------------*/
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