#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )\r
#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )\r
\r
+/* Constants required to check the validity of an interrupt prority. */\r
+#define portFIRST_USER_INTERRUPT_NUMBER ( 16 )\r
+#define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 )\r
+#define portAIRCR_REG ( * ( ( volatile unsigned long * ) 0xE000ED0C ) )\r
+#define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL )\r
+\r
/* Constants required to manipulate the VFP. */\r
#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */\r
#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )\r
static unsigned long ulStoppedTimerCompensation = 0;\r
#endif /* configUSE_TICKLESS_IDLE */\r
\r
+/*\r
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure \r
+ * FreeRTOS API functions are not called from interrupts that have been assigned\r
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
+ */\r
+#if ( configASSERT_DEFINED == 1 )\r
+ static unsigned char ucMaxSysCallPriority = 0;\r
+ static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16;\r
+#endif /* configASSERT_DEFINED */\r
+\r
/*-----------------------------------------------------------*/\r
\r
/*\r
*/\r
portBASE_TYPE xPortStartScheduler( void )\r
{\r
+ #if( configASSERT_DEFINED == 1 )\r
+ {\r
+ volatile unsigned long ulOriginalPriority;\r
+ volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );\r
+\r
+ /* Determine the maximum priority from which ISR safe FreeRTOS API\r
+ functions can be called. ISR safe functions are those that end in\r
+ "FromISR". FreeRTOS maintains separate thread and ISR API functions to\r
+ ensure interrupt entry is as fast and simple as possible.\r
+\r
+ Save the interrupt priority value that is about to be clobbered. */\r
+ ulOriginalPriority = *pcFirstUserPriorityRegister;\r
+\r
+ /* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt\r
+ priority register. */\r
+ *pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;\r
+\r
+ /* Read back the written priority to obtain its value as seen by the\r
+ hardware, which will only implement a subset of the priority bits. */\r
+ ucMaxSysCallPriority = *pcFirstUserPriorityRegister;\r
+\r
+ /* Restore the clobbered interrupt priority register to its original\r
+ value. */\r
+ *pcFirstUserPriorityRegister = ulOriginalPriority;\r
+ }\r
+ #endif /* conifgASSERT_DEFINED */\r
+\r
/* Make PendSV and SysTick the lowest priority interrupts. */\r
portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;\r
portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;\r
msr basepri, r0\r
bx r14\r
}\r
+/*-----------------------------------------------------------*/\r
+\r
+__asm unsigned long vPortGetIPSR( void )\r
+{\r
+ PRESERVE8\r
+ \r
+ mrs r0, ipsr\r
+ bx r14\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+#if( configASSERT_DEFINED == 1 )\r
+\r
+ void vPortValidateInterruptPriority( void )\r
+ {\r
+ unsigned long ulCurrentInterrupt;\r
+ unsigned char ucCurrentPriority;\r
+\r
+ /* Obtain the number of the currently executing interrupt. */\r
+ ulCurrentInterrupt = vPortGetIPSR();\r
+\r
+ /* Is the interrupt number a user defined interrupt? */\r
+ if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )\r
+ {\r
+ /* Look up the interrupt's priority. */\r
+ ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];\r
+\r
+ /* The following assertion will fail if a service routine (ISR) for \r
+ an interrupt that has been assigned a priority above\r
+ configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API\r
+ function. ISR safe FreeRTOS API functions must *only* be called \r
+ from interrupts that have been assigned a priority at or below\r
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
+ \r
+ Numerically low interrupt priority numbers represent logically high\r
+ interrupt priorities, therefore the priority of the interrupt must \r
+ be set to a value equal to or numerically *higher* than \r
+ configMAX_SYSCALL_INTERRUPT_PRIORITY.\r
+ \r
+ Interrupts that use the FreeRTOS API must not be left at their\r
+ default priority of zero as that is the highest possible priority,\r
+ which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, \r
+ and therefore also guaranteed to be invalid. \r
+ \r
+ FreeRTOS maintains separate thread and ISR API functions to ensure \r
+ interrupt entry is as fast and simple as possible.\r
+ \r
+ The following links provide detailed information:\r
+ http://www.freertos.org/RTOS-Cortex-M3-M4.html\r
+ http://www.freertos.org/FAQHelp.html */\r
+ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );\r
+ }\r
+\r
+ /* Priority grouping: The interrupt controller (NVIC) allows the bits \r
+ that define each interrupt's priority to be split between bits that \r
+ define the interrupt's pre-emption priority bits and bits that define\r
+ the interrupt's sub-priority. For simplicity all bits must be defined \r
+ to be pre-emption priority bits. The following assertion will fail if\r
+ this is not the case (if some bits represent a sub-priority). \r
+ \r
+ If CMSIS libraries are being used then the correct setting can be \r
+ achieved by calling NVIC_SetPriorityGrouping( 0 ); before starting the \r
+ scheduler. */\r
+ configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );\r
+ }\r
+ \r
+#endif /* configASSERT_DEFINED */\r
+\r
+\r
projects / freertos / blobdiff