2 FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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4 This file is part of the FreeRTOS distribution.
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6 FreeRTOS is free software; you can redistribute it and/or modify it under
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7 the terms of the GNU General Public License (version 2) as published by the
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8 Free Software Foundation and modified by the FreeRTOS exception.
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9 **NOTE** The exception to the GPL is included to allow you to distribute a
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10 combined work that includes FreeRTOS without being obliged to provide the
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11 source code for proprietary components outside of the FreeRTOS kernel.
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12 Alternative commercial license and support terms are also available upon
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13 request. See the licensing section of http://www.FreeRTOS.org for full
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16 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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18 FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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21 You should have received a copy of the GNU General Public License along
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22 with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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23 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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26 ***************************************************************************
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28 * The FreeRTOS eBook and reference manual are available to purchase for a *
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29 * small fee. Help yourself get started quickly while also helping the *
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30 * FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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32 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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49 /*-----------------------------------------------------------
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50 * Implementation of functions defined in portable.h for the ST STR71x ARM7
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52 *----------------------------------------------------------*/
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54 /* Library includes. */
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58 /* Standard includes. */
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61 /* Scheduler includes. */
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62 #include "FreeRTOS.h"
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65 /* Constants required to setup the initial stack. */
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66 #define portINITIAL_SPSR ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
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67 #define portTHUMB_MODE_BIT ( ( portSTACK_TYPE ) 0x20 )
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68 #define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 4 )
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70 /* Constants required to handle critical sections. */
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71 #define portNO_CRITICAL_NESTING ( ( unsigned long ) 0 )
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73 #define portMICROS_PER_SECOND 1000000
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75 /*-----------------------------------------------------------*/
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77 /* Setup the watchdog to generate the tick interrupts. */
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78 static void prvSetupTimerInterrupt( void );
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80 /* ulCriticalNesting will get set to zero when the first task starts. It
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81 cannot be initialised to 0 as this will cause interrupts to be enabled
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82 during the kernel initialisation process. */
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83 unsigned long ulCriticalNesting = ( unsigned long ) 9999;
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85 /* Tick interrupt routines for cooperative and preemptive operation
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86 respectively. The preemptive version is not defined as __irq as it is called
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87 from an asm wrapper function. */
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88 __arm __irq void vPortNonPreemptiveTick( void );
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89 void vPortPreemptiveTick( void );
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91 /*-----------------------------------------------------------*/
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94 * Initialise the stack of a task to look exactly as if a call to
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95 * portSAVE_CONTEXT had been called.
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97 * See header file for description.
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99 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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101 portSTACK_TYPE *pxOriginalTOS;
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103 pxOriginalTOS = pxTopOfStack;
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105 /* Setup the initial stack of the task. The stack is set exactly as
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106 expected by the portRESTORE_CONTEXT() macro. */
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108 /* First on the stack is the return address - which in this case is the
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109 start of the task. The offset is added to make the return address appear
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110 as it would within an IRQ ISR. */
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111 *pxTopOfStack = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;
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114 *pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa; /* R14 */
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116 *pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
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118 *pxTopOfStack = ( portSTACK_TYPE ) 0x12121212; /* R12 */
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120 *pxTopOfStack = ( portSTACK_TYPE ) 0x11111111; /* R11 */
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122 *pxTopOfStack = ( portSTACK_TYPE ) 0x10101010; /* R10 */
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124 *pxTopOfStack = ( portSTACK_TYPE ) 0x09090909; /* R9 */
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126 *pxTopOfStack = ( portSTACK_TYPE ) 0x08080808; /* R8 */
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128 *pxTopOfStack = ( portSTACK_TYPE ) 0x07070707; /* R7 */
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130 *pxTopOfStack = ( portSTACK_TYPE ) 0x06060606; /* R6 */
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132 *pxTopOfStack = ( portSTACK_TYPE ) 0x05050505; /* R5 */
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134 *pxTopOfStack = ( portSTACK_TYPE ) 0x04040404; /* R4 */
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136 *pxTopOfStack = ( portSTACK_TYPE ) 0x03030303; /* R3 */
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138 *pxTopOfStack = ( portSTACK_TYPE ) 0x02020202; /* R2 */
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140 *pxTopOfStack = ( portSTACK_TYPE ) 0x01010101; /* R1 */
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143 /* When the task starts is will expect to find the function parameter in
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145 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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148 /* The status register is set for system mode, with interrupts enabled. */
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149 *pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;
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151 if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00UL )
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153 /* We want the task to start in thumb mode. */
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154 *pxTopOfStack |= portTHUMB_MODE_BIT;
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159 /* Interrupt flags cannot always be stored on the stack and will
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160 instead be stored in a variable, which is then saved as part of the
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162 *pxTopOfStack = portNO_CRITICAL_NESTING;
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164 return pxTopOfStack;
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166 /*-----------------------------------------------------------*/
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168 portBASE_TYPE xPortStartScheduler( void )
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170 extern void vPortStartFirstTask( void );
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172 /* Start the timer that generates the tick ISR. Interrupts are disabled
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174 prvSetupTimerInterrupt();
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176 /* Start the first task. */
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177 vPortStartFirstTask();
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179 /* Should not get here! */
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182 /*-----------------------------------------------------------*/
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184 void vPortEndScheduler( void )
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186 /* It is unlikely that the ARM port will require this function as there
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187 is nothing to return to. */
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189 /*-----------------------------------------------------------*/
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191 /* The cooperative scheduler requires a normal IRQ service routine to
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192 simply increment the system tick. */
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193 __arm __irq void vPortNonPreemptiveTick( void )
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195 /* Increment the tick count - which may wake some tasks but as the
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196 preemptive scheduler is not being used any woken task is not given
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197 processor time no matter what its priority. */
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198 vTaskIncrementTick();
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200 /* Clear the interrupt in the watchdog and EIC. */
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204 /*-----------------------------------------------------------*/
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206 /* This function is called from an asm wrapper, so does not require the __irq
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208 void vPortPreemptiveTick( void )
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210 /* Increment the tick counter. */
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211 vTaskIncrementTick();
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213 /* The new tick value might unblock a task. Ensure the highest task that
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214 is ready to execute is the task that will execute when the tick ISR
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216 vTaskSwitchContext();
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218 /* Clear the interrupt in the watchdog and EIC. */
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222 /*-----------------------------------------------------------*/
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224 static void prvSetupTimerInterrupt( void )
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226 /* Set the watchdog up to generate a periodic tick. */
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227 WDG_ECITConfig( DISABLE );
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228 WDG_CntOnOffConfig( DISABLE );
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229 WDG_PeriodValueConfig( portMICROS_PER_SECOND / configTICK_RATE_HZ );
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231 /* Setup the tick interrupt in the EIC. */
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232 EIC_IRQChannelPriorityConfig( WDG_IRQChannel, 1 );
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233 EIC_IRQChannelConfig( WDG_IRQChannel, ENABLE );
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234 EIC_IRQConfig( ENABLE );
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235 WDG_ECITConfig( ENABLE );
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237 /* Start the timer - interrupts are actually disabled at this point so
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238 it is safe to do this here. */
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239 WDG_CntOnOffConfig( ENABLE );
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241 /*-----------------------------------------------------------*/
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243 __arm __interwork void vPortEnterCritical( void )
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245 /* Disable interrupts first! */
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246 __disable_interrupt();
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248 /* Now interrupts are disabled ulCriticalNesting can be accessed
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249 directly. Increment ulCriticalNesting to keep a count of how many times
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250 portENTER_CRITICAL() has been called. */
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251 ulCriticalNesting++;
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253 /*-----------------------------------------------------------*/
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255 __arm __interwork void vPortExitCritical( void )
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257 if( ulCriticalNesting > portNO_CRITICAL_NESTING )
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259 /* Decrement the nesting count as we are leaving a critical section. */
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260 ulCriticalNesting--;
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262 /* If the nesting level has reached zero then interrupts should be
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264 if( ulCriticalNesting == portNO_CRITICAL_NESTING )
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266 __enable_interrupt();
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270 /*-----------------------------------------------------------*/
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