2 FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 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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27 See http://www.FreeRTOS.org for documentation, latest information, license
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28 and contact details. Please ensure to read the configuration and relevant
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29 port sections of the online documentation.
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31 Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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32 with commercial development and support options.
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33 ***************************************************************************
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37 /*-----------------------------------------------------------
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38 * Components that can be compiled to either ARM or THUMB mode are
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39 * contained in port.c The ISR routines, which can only be compiled
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40 * to ARM mode, are contained in this file.
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41 *----------------------------------------------------------*/
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46 /* Scheduler includes. */
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47 #include "FreeRTOS.h"
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50 /* Constants required to handle critical sections. */
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51 #define portNO_CRITICAL_NESTING ( ( unsigned portLONG ) 0 )
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53 volatile unsigned portLONG ulCriticalNesting = 9999UL;
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55 /*-----------------------------------------------------------*/
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58 * The scheduler can only be started from ARM mode, hence the inclusion of this
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61 void vPortISRStartFirstTask( void );
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62 /*-----------------------------------------------------------*/
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64 void vPortISRStartFirstTask( void )
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66 /* Simply start the scheduler. This is included here as it can only be
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67 called from ARM mode. */
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69 "LDR R0, =pxCurrentTCB \n\t" \
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70 "LDR R0, [R0] \n\t" \
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71 "LDR LR, [R0] \n\t" \
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73 /* The critical nesting depth is the first item on the stack. */ \
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74 /* Load it into the ulCriticalNesting variable. */ \
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75 "LDR R0, =ulCriticalNesting \n\t" \
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76 "LDMFD LR!, {R1} \n\t" \
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77 "STR R1, [R0] \n\t" \
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79 /* Get the SPSR from the stack. */ \
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80 "LDMFD LR!, {R0} \n\t" \
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81 "MSR SPSR, R0 \n\t" \
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83 /* Restore all system mode registers for the task. */ \
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84 "LDMFD LR, {R0-R14}^ \n\t" \
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87 /* Restore the return address. */ \
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88 "LDR LR, [LR, #+60] \n\t" \
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90 /* And return - correcting the offset in the LR to obtain the */ \
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91 /* correct address. */ \
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92 "SUBS PC, LR, #4 \n\t" \
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95 /*-----------------------------------------------------------*/
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97 void vPortTickISR( void )
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99 /* Increment the RTOS tick count, then look for the highest priority
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100 task that is ready to run. */
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101 vTaskIncrementTick();
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103 #if configUSE_PREEMPTION == 1
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104 vTaskSwitchContext();
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107 /* Ready for the next interrupt. */
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108 TB_ClearITPendingBit( TB_IT_Update );
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111 /*-----------------------------------------------------------*/
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114 * The interrupt management utilities can only be called from ARM mode. When
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115 * THUMB_INTERWORK is defined the utilities are defined as functions here to
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116 * ensure a switch to ARM mode. When THUMB_INTERWORK is not defined then
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117 * the utilities are defined as macros in portmacro.h - as per other ports.
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119 #ifdef THUMB_INTERWORK
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121 void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
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122 void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));
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124 void vPortDisableInterruptsFromThumb( void )
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127 "STMDB SP!, {R0} \n\t" /* Push R0. */
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128 "MRS R0, CPSR \n\t" /* Get CPSR. */
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129 "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
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130 "MSR CPSR, R0 \n\t" /* Write back modified value. */
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131 "LDMIA SP!, {R0} \n\t" /* Pop R0. */
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132 "BX R14" ); /* Return back to thumb. */
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135 void vPortEnableInterruptsFromThumb( void )
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138 "STMDB SP!, {R0} \n\t" /* Push R0. */
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139 "MRS R0, CPSR \n\t" /* Get CPSR. */
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140 "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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141 "MSR CPSR, R0 \n\t" /* Write back modified value. */
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142 "LDMIA SP!, {R0} \n\t" /* Pop R0. */
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143 "BX R14" ); /* Return back to thumb. */
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146 #endif /* THUMB_INTERWORK */
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147 /*-----------------------------------------------------------*/
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149 void vPortEnterCritical( void )
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151 /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
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153 "STMDB SP!, {R0} \n\t" /* Push R0. */
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154 "MRS R0, CPSR \n\t" /* Get CPSR. */
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155 "ORR R0, R0, #0xC0 \n\t" /* Disable IRQ, FIQ. */
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156 "MSR CPSR, R0 \n\t" /* Write back modified value. */
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157 "LDMIA SP!, {R0}" ); /* Pop R0. */
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159 /* Now interrupts are disabled ulCriticalNesting can be accessed
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160 directly. Increment ulCriticalNesting to keep a count of how many times
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161 portENTER_CRITICAL() has been called. */
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162 ulCriticalNesting++;
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164 /*-----------------------------------------------------------*/
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166 void vPortExitCritical( void )
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168 if( ulCriticalNesting > portNO_CRITICAL_NESTING )
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170 /* Decrement the nesting count as we are leaving a critical section. */
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171 ulCriticalNesting--;
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173 /* If the nesting level has reached zero then interrupts should be
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175 if( ulCriticalNesting == portNO_CRITICAL_NESTING )
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177 /* Enable interrupts as per portEXIT_CRITICAL(). */
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179 "STMDB SP!, {R0} \n\t" /* Push R0. */
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180 "MRS R0, CPSR \n\t" /* Get CPSR. */
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181 "BIC R0, R0, #0xC0 \n\t" /* Enable IRQ, FIQ. */
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182 "MSR CPSR, R0 \n\t" /* Write back modified value. */
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183 "LDMIA SP!, {R0}" ); /* Pop R0. */
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