--- /dev/null
+/*\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
+*/\r
+\r
+/*-----------------------------------------------------------\r
+ * Implementation of functions defined in portable.h for the ARM CM0 port.\r
+ *----------------------------------------------------------*/\r
+\r
+/* Scheduler includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+/* Constants required to manipulate the NVIC. */\r
+#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )\r
+#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )\r
+#define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )\r
+#define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )\r
+#define portNVIC_SYSTICK_CLK 0x00000004\r
+#define portNVIC_SYSTICK_INT 0x00000002\r
+#define portNVIC_SYSTICK_ENABLE 0x00000001\r
+#define portNVIC_PENDSVSET 0x10000000\r
+#define portMIN_INTERRUPT_PRIORITY ( 255UL )\r
+#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )\r
+#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )\r
+\r
+/* Constants required to set up the initial stack. */\r
+#define portINITIAL_XPSR ( 0x01000000 )\r
+\r
+/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is\r
+defined. The value 255 should also ensure backward compatibility.\r
+FreeRTOS.org versions prior to V4.3.0 did not include this definition. */\r
+#ifndef configKERNEL_INTERRUPT_PRIORITY\r
+ #define configKERNEL_INTERRUPT_PRIORITY 0\r
+#endif\r
+\r
+/* Each task maintains its own interrupt status in the critical nesting\r
+variable. */\r
+static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;\r
+\r
+/*\r
+ * Setup the timer to generate the tick interrupts.\r
+ */\r
+static void prvSetupTimerInterrupt( void );\r
+\r
+/*\r
+ * Exception handlers.\r
+ */\r
+void xPortSysTickHandler( void );\r
+\r
+/*\r
+ * Start first task is a separate function so it can be tested in isolation.\r
+ */\r
+extern void vPortStartFirstTask( void );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * See header file for description.\r
+ */\r
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )\r
+{\r
+ /* Simulate the stack frame as it would be created by a context switch\r
+ interrupt. */\r
+ pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */\r
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */\r
+ pxTopOfStack -= 6; /* LR, R12, R3..R1 */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */\r
+ pxTopOfStack -= 8; /* R11..R4. */\r
+\r
+ return pxTopOfStack;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * See header file for description.\r
+ */\r
+portBASE_TYPE xPortStartScheduler( void )\r
+{\r
+ /* Make PendSV and SysTick the lowest priority interrupts. */\r
+ *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;\r
+ *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;\r
+\r
+ /* Start the timer that generates the tick ISR. Interrupts are disabled\r
+ here already. */\r
+ prvSetupTimerInterrupt();\r
+ \r
+ /* Initialise the critical nesting count ready for the first task. */\r
+ uxCriticalNesting = 0;\r
+\r
+ /* Start the first task. */\r
+ vPortStartFirstTask();\r
+\r
+ /* Should not get here! */\r
+ return 0;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEndScheduler( void )\r
+{\r
+ /* It is unlikely that the CM0 port will require this function as there\r
+ is nothing to return to. */\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortYieldFromISR( void )\r
+{\r
+ /* Set a PendSV to request a context switch. */\r
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEnterCritical( void )\r
+{\r
+ portDISABLE_INTERRUPTS();\r
+ uxCriticalNesting++;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortExitCritical( void )\r
+{\r
+ uxCriticalNesting--;\r
+ if( uxCriticalNesting == 0 )\r
+ {\r
+ portENABLE_INTERRUPTS();\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void xPortSysTickHandler( void )\r
+{\r
+unsigned long ulDummy;\r
+\r
+ /* If using preemption, also force a context switch. */\r
+ #if configUSE_PREEMPTION == 1\r
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; \r
+ #endif\r
+\r
+ ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();\r
+ {\r
+ vTaskIncrementTick();\r
+ }\r
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Setup the systick timer to generate the tick interrupts at the required\r
+ * frequency.\r
+ */\r
+static void prvSetupTimerInterrupt( void )\r
+{\r
+ /* Configure SysTick to interrupt at the requested rate. */\r
+ *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;\r
+ *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
+*/\r
+\r
+#include <FreeRTOSConfig.h>\r
+\r
+/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is\r
+defined. The value zero should also ensure backward compatibility.\r
+FreeRTOS.org versions prior to V4.3.0 did not include this definition. */\r
+#ifndef configKERNEL_INTERRUPT_PRIORITY\r
+ #define configKERNEL_INTERRUPT_PRIORITY 0\r
+#endif\r
+\r
+ \r
+ RSEG CODE:CODE(2)\r
+ thumb\r
+\r
+ EXTERN vPortYieldFromISR\r
+ EXTERN pxCurrentTCB\r
+ EXTERN vTaskSwitchContext\r
+\r
+ PUBLIC vSetMSP\r
+ PUBLIC xPortPendSVHandler\r
+ PUBLIC vPortSVCHandler\r
+ PUBLIC vPortStartFirstTask\r
+\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+vSetMSP\r
+ msr msp, r0\r
+ bx lr\r
+ \r
+/*-----------------------------------------------------------*/\r
+\r
+xPortPendSVHandler:\r
+ mrs r0, psp \r
+ \r
+ ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */\r
+ ldr r2, [r3] \r
+ \r
+ subs r0, r0, #32 /* Make space for the remaining low registers. */\r
+ str r0, [r2] /* Save the new top of stack. */\r
+ stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */\r
+ mov r4, r8 /* Store the high registers. */\r
+ mov r5, r9 \r
+ mov r6, r10 \r
+ mov r7, r11 \r
+ stmia r0!, {r4-r7} \r
+ \r
+ push {r3, r14} \r
+ cpsid i \r
+ bl vTaskSwitchContext \r
+ cpsie i \r
+ pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */\r
+ \r
+ ldr r1, [r2] \r
+ ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */\r
+ adds r0, r0, #16 /* Move to the high registers. */\r
+ ldmia r0!, {r4-r7} /* Pop the high registers. */\r
+ mov r8, r4 \r
+ mov r9, r5 \r
+ mov r10, r6 \r
+ mov r11, r7 \r
+ \r
+ msr psp, r0 /* Remember the new top of stack for the task. */\r
+ \r
+ subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */\r
+ ldmia r0!, {r4-r7} /* Pop low registers. */\r
+ \r
+ bx r3 \r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+vPortSVCHandler;\r
+ ldr r3, =pxCurrentTCB /* Restore the context. */\r
+ ldr r1, [r3] /* Get the pxCurrentTCB address. */\r
+ ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */\r
+ adds r0, r0, #16 /* Move to the high registers. */\r
+ ldmia r0!, {r4-r7} /* Pop the high registers. */\r
+ mov r8, r4 \r
+ mov r9, r5 \r
+ mov r10, r6 \r
+ mov r11, r7 \r
+ \r
+ msr psp, r0 /* Remember the new top of stack for the task. */\r
+ \r
+ subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */\r
+ ldmia r0!, {r4-r7} /* Pop low registers. */\r
+ mov r1, r14 /* OR R14 with 0x0d. */\r
+ movs r0, #0x0d \r
+ orrs r1, r0 \r
+ bx r1 \r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+vPortStartFirstTask\r
+ movs r0, #0x00 /* Locate the top of stack. */\r
+ ldr r0, [r0] \r
+ msr msp, r0 /* Set the msp back to the start of the stack. */\r
+ cpsie i /* Globally enable interrupts. */\r
+ svc 0 /* System call to start first task. */\r
+ nop \r
+ \r
+ END\r
+
\ No newline at end of file
--- /dev/null
+/*\r
+ FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.\r
+ \r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
+ ***************************************************************************\r
+\r
+\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ http://www.FreeRTOS.org - Documentation, latest information, license and\r
+ contact details.\r
+\r
+ http://www.SafeRTOS.com - A version that is certified for use in safety\r
+ critical systems.\r
+\r
+ http://www.OpenRTOS.com - Commercial support, development, porting,\r
+ licensing and training services.\r
+*/\r
+\r
+\r
+#ifndef PORTMACRO_H\r
+#define PORTMACRO_H\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+\r
+/*-----------------------------------------------------------\r
+ * Port specific definitions.\r
+ *\r
+ * The settings in this file configure FreeRTOS correctly for the\r
+ * given hardware and compiler.\r
+ *\r
+ * These settings should not be altered.\r
+ *-----------------------------------------------------------\r
+ */\r
+\r
+/* Type definitions. */\r
+#define portCHAR char\r
+#define portFLOAT float\r
+#define portDOUBLE double\r
+#define portLONG long\r
+#define portSHORT short\r
+#define portSTACK_TYPE unsigned portLONG\r
+#define portBASE_TYPE long\r
+\r
+#if( configUSE_16_BIT_TICKS == 1 )\r
+ typedef unsigned portSHORT portTickType;\r
+ #define portMAX_DELAY ( portTickType ) 0xffff\r
+#else\r
+ typedef unsigned portLONG portTickType;\r
+ #define portMAX_DELAY ( portTickType ) 0xffffffff\r
+#endif\r
+/*-----------------------------------------------------------*/ \r
+\r
+/* Architecture specifics. */\r
+#define portSTACK_GROWTH ( -1 )\r
+#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) \r
+#define portBYTE_ALIGNMENT 8\r
+/*-----------------------------------------------------------*/ \r
+\r
+\r
+/* Scheduler utilities. */\r
+extern void vPortYieldFromISR( void );\r
+\r
+#define portYIELD() vPortYieldFromISR()\r
+\r
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+/* Critical section management. */\r
+\r
+extern void vPortEnterCritical( void );\r
+extern void vPortExitCritical( void );\r
+\r
+#define portDISABLE_INTERRUPTS() __asm volatile( "cpsid i" )\r
+#define portENABLE_INTERRUPTS() __asm volatile( "cpsie i" )\r
+#define portENTER_CRITICAL() vPortEnterCritical()\r
+#define portEXIT_CRITICAL() vPortExitCritical()\r
+#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portDISABLE_INTERRUPTS()\r
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portENABLE_INTERRUPTS();(void)x\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Task function macros as described on the FreeRTOS.org WEB site. */\r
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+\r
+#define portNOP()\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif /* PORTMACRO_H */\r
+\r
projects / freertos / commitdiff