X-Git-Url: https://git.sur5r.net/?a=blobdiff_plain;f=FreeRTOS%2FSource%2Fportable%2FIAR%2FARM_CM4F%2Fport.c;h=3cdd25b3048a49e5467c754993101fb2f27de034;hb=4c4a171cb817e52f4e9c57c314f039df5b65efa3;hp=e5a3658554183bbd85a65c433b0d70b194618317;hpb=e88c0f388efce44cb6684299878d9ea4f6ecbe89;p=freertos diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c b/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c index e5a365855..3cdd25b30 100644 --- a/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c +++ b/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c @@ -1,48 +1,37 @@ /* - FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd. + FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd. - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. See the GNU General Public License for more - details. You should have received a copy of the GNU General Public License - and the FreeRTOS license exception along with FreeRTOS; if not it can be - viewed here: http://www.freertos.org/a00114.html and also obtained by - writing to Real Time Engineers Ltd., contact details for whom are available - on the FreeRTOS WEB site. + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -55,21 +44,22 @@ * * *************************************************************************** - http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool, and our new - fully thread aware and reentrant UDP/IP stack. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High - Integrity Systems, who sell the code with commercial support, - indemnification and middleware, under the OpenRTOS brand. + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ /*----------------------------------------------------------- @@ -111,11 +101,15 @@ #define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL ) #define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL ) -/* Constants required to check the validity of an interrupt prority. */ +/* Constants required to check the validity of an interrupt priority. */ #define portFIRST_USER_INTERRUPT_NUMBER ( 16 ) #define portNVIC_IP_REGISTERS_OFFSET_16 ( 0xE000E3F0 ) #define portAIRCR_REG ( * ( ( volatile unsigned long * ) 0xE000ED0C ) ) +#define portMAX_8_BIT_VALUE ( ( unsigned char ) 0xff ) +#define portTOP_BIT_OF_BYTE ( ( unsigned char ) 0x80 ) +#define portMAX_PRIGROUP_BITS ( ( unsigned char ) 7 ) #define portPRIORITY_GROUP_MASK ( 0x07UL << 8UL ) +#define portPRIGROUP_SHIFT ( 8UL ) /* Constants required to manipulate the VFP. */ #define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */ @@ -186,12 +180,13 @@ extern void vPortEnableVFP( void ); #endif /* configUSE_TICKLESS_IDLE */ /* - * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure + * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure * FreeRTOS API functions are not called from interrupts that have been assigned * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY. */ #if ( configASSERT_DEFINED == 1 ) static unsigned char ucMaxSysCallPriority = 0; + static unsigned long ulMaxPRIGROUPValue = 0; static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16; #endif /* configASSERT_DEFINED */ @@ -239,6 +234,7 @@ portBASE_TYPE xPortStartScheduler( void ) { volatile unsigned long ulOriginalPriority; volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER ); + volatile unsigned char ucMaxPriorityValue; /* Determine the maximum priority from which ISR safe FreeRTOS API functions can be called. ISR safe functions are those that end in @@ -248,13 +244,29 @@ portBASE_TYPE xPortStartScheduler( void ) Save the interrupt priority value that is about to be clobbered. */ ulOriginalPriority = *pcFirstUserPriorityRegister; - /* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt - priority register. */ - *pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY; + /* Determine the number of priority bits available. First write to all + possible bits. */ + *pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE; + + /* Read the value back to see how many bits stuck. */ + ucMaxPriorityValue = *pcFirstUserPriorityRegister; + + /* Use the same mask on the maximum system call priority. */ + ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue; + + /* Calculate the maximum acceptable priority group value for the number + of bits read back. */ + ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS; + while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE ) + { + ulMaxPRIGROUPValue--; + ucMaxPriorityValue <<= ( unsigned char ) 0x01; + } - /* Read back the written priority to obtain its value as seen by the - hardware, which will only implement a subset of the priority bits. */ - ucMaxSysCallPriority = *pcFirstUserPriorityRegister; + /* Shift the priority group value back to its position within the AIRCR + register. */ + ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT; + ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK; /* Restore the clobbered interrupt priority register to its original value. */ @@ -459,15 +471,17 @@ void xPortSysTickHandler( void ) /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again, then set portNVIC_SYSTICK_LOAD_REG back to its standard - value. */ + value. The critical section is used to ensure the tick interrupt + can only execute once in the case that the reload register is near + zero. */ portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL; - portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; - - vTaskStepTick( ulCompleteTickPeriods ); - - /* The counter must start by the time the reload value is reset. */ - configASSERT( portNVIC_SYSTICK_CURRENT_VALUE_REG ); - portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + portENTER_CRITICAL(); + { + portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT; + vTaskStepTick( ulCompleteTickPeriods ); + portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL; + } + portEXIT_CRITICAL(); } } @@ -511,43 +525,46 @@ __weak void vPortSetupTimerInterrupt( void ) /* Look up the interrupt's priority. */ ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ]; - /* The following assertion will fail if a service routine (ISR) for + /* The following assertion will fail if a service routine (ISR) for an interrupt that has been assigned a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API - function. ISR safe FreeRTOS API functions must *only* be called + function. ISR safe FreeRTOS API functions must *only* be called from interrupts that have been assigned a priority at or below configMAX_SYSCALL_INTERRUPT_PRIORITY. - + Numerically low interrupt priority numbers represent logically high - interrupt priorities, therefore the priority of the interrupt must - be set to a value equal to or numerically *higher* than + interrupt priorities, therefore the priority of the interrupt must + be set to a value equal to or numerically *higher* than configMAX_SYSCALL_INTERRUPT_PRIORITY. - + Interrupts that use the FreeRTOS API must not be left at their default priority of zero as that is the highest possible priority, - which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, - and therefore also guaranteed to be invalid. - - FreeRTOS maintains separate thread and ISR API functions to ensure + which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, + and therefore also guaranteed to be invalid. + + FreeRTOS maintains separate thread and ISR API functions to ensure interrupt entry is as fast and simple as possible. - + The following links provide detailed information: http://www.freertos.org/RTOS-Cortex-M3-M4.html http://www.freertos.org/FAQHelp.html */ configASSERT( ucCurrentPriority >= ucMaxSysCallPriority ); } - /* Priority grouping: The interrupt controller (NVIC) allows the bits - that define each interrupt's priority to be split between bits that + /* Priority grouping: The interrupt controller (NVIC) allows the bits + that define each interrupt's priority to be split between bits that define the interrupt's pre-emption priority bits and bits that define - the interrupt's sub-priority. For simplicity all bits must be defined + the interrupt's sub-priority. For simplicity all bits must be defined to be pre-emption priority bits. The following assertion will fail if - this is not the case (if some bits represent a sub-priority). - - If CMSIS libraries are being used then the correct setting can be - achieved by calling NVIC_SetPriorityGrouping( 0 ); before starting the - scheduler. */ - configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 ); + this is not the case (if some bits represent a sub-priority). + + If the application only uses CMSIS libraries for interrupt + configuration then the correct setting can be achieved on all Cortex-M + devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the + scheduler. Note however that some vendor specific peripheral libraries + assume a non-zero priority group setting, in which cases using a value + of zero will result in unpredicable behaviour. */ + configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue ); } #endif /* configASSERT_DEFINED */