2 FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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28 Please ensure to read the configuration and relevant port sections of the
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29 online documentation.
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31 +++ http://www.FreeRTOS.org +++
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32 Documentation, latest information, license and contact details.
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34 +++ http://www.SafeRTOS.com +++
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35 A version that is certified for use in safety critical systems.
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37 +++ http://www.OpenRTOS.com +++
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38 Commercial support, development, porting, licensing and training services.
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40 ***************************************************************************
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43 /*-----------------------------------------------------------
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44 * Implementation of functions defined in portable.h for the PPC405 port.
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45 *----------------------------------------------------------*/
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48 /* Scheduler includes. */
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49 #include "FreeRTOS.h"
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52 /* Library includes. */
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53 #include "xtime_l.h"
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55 #include "xintc_i.h"
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57 /* Standard includes. */
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60 /*-----------------------------------------------------------*/
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62 #define portCRITICAL_INTERRUPT_ENABLE ( 0UL << 17UL )
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63 #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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64 #define portMACHINE_CHECK_ENABLE ( 0UL << 12UL )
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65 #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE )
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69 static void prvSetupTimerInterrupt( void );
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70 extern void vPortTickISR( void );
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71 extern void vPortYield( void );
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72 extern void vPortStartFirstTask( void );
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74 static XIntc xInterruptController;
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77 * Initialise the stack of a task to look exactly as if a call to
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78 * portSAVE_CONTEXT had been made.
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80 * See the header file portable.h.
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82 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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84 /* Place a known value at the bottom of the stack for debugging. */
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85 *pxTopOfStack = 0xDEADBEEF;
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88 /* EABI stack frame. */
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89 *pxTopOfStack = 0x31313131UL; /* R31. */
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91 *pxTopOfStack = 0x30303030UL; /* R30. */
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93 *pxTopOfStack = 0x29292929UL; /* R29. */
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95 *pxTopOfStack = 0x28282828UL; /* R28. */
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97 *pxTopOfStack = 0x27272727UL; /* R27. */
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99 *pxTopOfStack = 0x26262626UL; /* R26. */
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101 *pxTopOfStack = 0x25252525UL; /* R25. */
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103 *pxTopOfStack = 0x24242424UL; /* R24. */
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105 *pxTopOfStack = 0x23232323UL; /* R23. */
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107 *pxTopOfStack = 0x22222222UL; /* R22. */
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109 *pxTopOfStack = 0x21212121UL; /* R21. */
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111 *pxTopOfStack = 0x20202020UL; /* R20. */
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113 *pxTopOfStack = 0x19191919UL; /* R19. */
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115 *pxTopOfStack = 0x18181818UL; /* R18. */
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117 *pxTopOfStack = 0x17171717UL; /* R17. */
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119 *pxTopOfStack = 0x16161616UL; /* R16. */
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121 *pxTopOfStack = 0x15151515UL; /* R15. */
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123 *pxTopOfStack = 0x14141414UL; /* R14. */
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125 *pxTopOfStack = 0x13131313UL; /* R13. */
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127 *pxTopOfStack = 0x12121212UL; /* R12. */
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129 *pxTopOfStack = 0x11111111UL; /* R11. */
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131 *pxTopOfStack = 0x10101010UL; /* R10. */
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133 *pxTopOfStack = 0x09090909UL; /* R9. */
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135 *pxTopOfStack = 0x08080808UL; /* R8. */
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137 *pxTopOfStack = 0x07070707UL; /* R7. */
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139 *pxTopOfStack = 0x06060606UL; /* R6. */
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141 *pxTopOfStack = 0x05050505UL; /* R5. */
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143 *pxTopOfStack = 0x04040404UL; /* R4. */
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145 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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147 *pxTopOfStack = 0x02020202UL; /* R2. */
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149 *pxTopOfStack = 0x10000001UL;; /* R0. */
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151 *pxTopOfStack = 0x00000000UL; /* USPRG0. */
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153 *pxTopOfStack = 0x00000000UL; /* CR. */
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155 *pxTopOfStack = 0x00000000UL; /* XER. */
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157 *pxTopOfStack = 0x00000000UL; /* CTR. */
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159 *pxTopOfStack = ( portSTACK_TYPE ) vPortStartFirstTask; /* LR. */
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161 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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163 *pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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165 *pxTopOfStack = ( portSTACK_TYPE ) vPortStartFirstTask;/* Next LR. */
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167 *pxTopOfStack = 0x00000000UL;;/* Backchain. */
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170 return pxTopOfStack;
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172 /*-----------------------------------------------------------*/
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174 portBASE_TYPE xPortStartScheduler( void )
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176 extern void *pxCurrentTCB;
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178 prvSetupTimerInterrupt();
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180 XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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182 // XExc_mEnableExceptions( XEXC_NON_CRITICAL );
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184 vPortStartFirstTask();
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186 /* Should not get here as the tasks are now running! */
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189 /*-----------------------------------------------------------*/
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191 void vPortEndScheduler( void )
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193 /* Not implemented. */
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195 /*-----------------------------------------------------------*/
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198 * Hardware initialisation to generate the RTOS tick.
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200 static void prvTickISR( void );
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201 static void prvSetupTimerInterrupt( void )
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203 const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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205 XTime_PITClearInterrupt();
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206 XTime_FITClearInterrupt();
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207 XTime_WDTClearInterrupt();
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208 XTime_WDTDisableInterrupt();
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209 XTime_FITDisableInterrupt();
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211 XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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213 XTime_PITEnableAutoReload();
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214 XTime_PITSetInterval( ulInterval );
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215 XTime_PITEnableInterrupt();
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217 /*-----------------------------------------------------------*/
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219 static void prvTickISR( void )
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221 static unsigned portLONG ulTicks = 0;
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224 if( ulTicks >= 1000 )
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226 vParTestToggleLED( 0 );
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229 XTime_PITClearInterrupt();
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231 /*-----------------------------------------------------------*/
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233 void vPortISRHandler( void *vNullDoNotUse )
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235 Xuint32 IntrStatus;
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236 Xuint32 IntrMask = 1;
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238 //extern XIntc xInterruptController;
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239 XIntc_Config *CfgPtr;// = xInterruptController.CfgPtr;
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241 /* Get the configuration data using the device ID */
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242 //CfgPtr = &XIntc_ConfigTable[(Xuint32)DeviceId];
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243 CfgPtr = &XIntc_ConfigTable[(Xuint32)XPAR_OPB_INTC_0_DEVICE_ID];
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245 /* Get the interrupts that are waiting to be serviced */
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246 IntrStatus = XIntc_mGetIntrStatus(CfgPtr->BaseAddress);
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248 /* Service each interrupt that is active and enabled by checking each
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249 * bit in the register from LSB to MSB which corresponds to an interrupt
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252 for (IntrNumber = 0; IntrNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS;
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255 if (IntrStatus & 1)
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257 XIntc_VectorTableEntry *TablePtr;
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259 /* The interrupt is active and enabled, call the interrupt
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260 * handler that was setup with the specified parameter
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262 TablePtr = &(CfgPtr->HandlerTable[IntrNumber]);
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263 TablePtr->Handler(TablePtr->CallBackRef);
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265 /* Clear the interrupt. */
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266 XIntc_mAckIntr(CfgPtr->BaseAddress, IntrMask);
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270 /* Move to the next interrupt to check */
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274 /* If there are no other bits set indicating that all interrupts
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275 * have been serviced, then exit the loop
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277 if (IntrStatus == 0)
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283 /*-----------------------------------------------------------*/
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285 void vPortSetupInterruptController( void )
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287 extern void vPortISRWrapper( void );
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289 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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291 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, (XExceptionHandler)vPortISRWrapper, NULL );
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292 XIntc_Initialize( &xInterruptController, XPAR_OPB_INTC_0_DEVICE_ID );
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293 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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295 /*-----------------------------------------------------------*/
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297 portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
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299 portBASE_TYPE xReturn = pdFAIL;
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301 if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
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303 XIntc_Enable( &xInterruptController, ucInterruptID );
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