--- /dev/null
+/*\r
+ FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ * Thank you! *\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
+\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * Having a problem? Start by reading the FAQ "My application does *\r
+ * not run, what could be wrong?" *\r
+ * *\r
+ * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+ license and Real Time Engineers Ltd. contact details.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+/* Standard includes. */\r
+#include <stdlib.h>\r
+\r
+/* IAR includes. */\r
+#include <intrinsics.h>\r
+\r
+/* Scheduler includes. */\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+\r
+#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1\r
+ /* Check the configuration. */\r
+ #if( configMAX_PRIORITIES > 32 )\r
+ #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.\r
+ #endif\r
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
+\r
+/* A critical section is exited when the critical section nesting count reaches\r
+this value. */\r
+#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )\r
+\r
+/* Tasks are not created with a floating point context, but can be given a\r
+floating point context after they have been created. A variable is stored as\r
+part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task\r
+does not have an FPU context, or any other value if the task does have an FPU\r
+context. */\r
+#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 )\r
+\r
+/* Constants required to setup the initial task context. */\r
+#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */\r
+#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )\r
+#define portTHUMB_MODE_ADDRESS ( 0x01UL )\r
+\r
+/* Masks all bits in the APSR other than the mode bits. */\r
+#define portAPSR_MODE_BITS_MASK ( 0x1F )\r
+\r
+/* The value of the mode bits in the APSR when the CPU is executing in user\r
+mode. */\r
+#define portAPSR_USER_MODE ( 0x10 )\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Starts the first task executing. This function is necessarily written in\r
+ * assembly code so is implemented in portASM.s.\r
+ */\r
+extern void vPortRestoreTaskContext( void );\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* A variable is used to keep track of the critical section nesting. This\r
+variable has to be stored as part of the task context and must be initialised to\r
+a non zero value to ensure interrupts don't inadvertently become unmasked before\r
+the scheduler starts. As it is stored as part of the task context it will\r
+automatically be set to 0 when the first task is started. */\r
+volatile uint32_t ulCriticalNesting = 9999UL;\r
+\r
+/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero\r
+then a floating point context must be saved and restored for the task. */\r
+uint32_t ulPortTaskHasFPUContext = pdFALSE;\r
+\r
+/* Set to 1 to pend a context switch from an ISR. */\r
+uint32_t ulPortYieldRequired = pdFALSE;\r
+\r
+/* Counts the interrupt nesting depth. A context switch is only performed if\r
+if the nesting depth is 0. */\r
+uint32_t ulPortInterruptNesting = 0UL;\r
+\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+#warning What about branch distance in asm file.\r
+#warning Does not support flop use in ISRs.\r
+#warning Level interrupts must be cleared in their handling function.\r
+#warning Can this be made generic by defining the vector address register externally?\r
+\r
+/*\r
+ * See header file for description.\r
+ */\r
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )\r
+{\r
+ /* Setup the initial stack of the task. The stack is set exactly as\r
+ expected by the portRESTORE_CONTEXT() macro.\r
+\r
+ The fist real value on the stack is the status register, which is set for\r
+ system mode, with interrupts enabled. A few NULLs are added first to ensure\r
+ GDB does not try decoding a non-existent return address. */\r
+ *pxTopOfStack = NULL;\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = NULL;\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = NULL;\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;\r
+\r
+ if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )\r
+ {\r
+ /* The task will start in THUMB mode. */\r
+ *pxTopOfStack |= portTHUMB_MODE_BIT;\r
+ }\r
+\r
+ pxTopOfStack--;\r
+#warning What about task exit error function?\r
+ /* Next the return address, which in this case is the start of the task. */\r
+ *pxTopOfStack = ( StackType_t ) pxCode;\r
+ pxTopOfStack--;\r
+\r
+ /* Next all the registers other than the stack pointer. */\r
+ *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */\r
+ pxTopOfStack--;\r
+\r
+ /* The task will start with a critical nesting count of 0 as interrupts are\r
+ enabled. */\r
+ *pxTopOfStack = portNO_CRITICAL_NESTING;\r
+ pxTopOfStack--;\r
+\r
+ /* The task will start without a floating point context. A task that uses\r
+ the floating point hardware must call vPortTaskUsesFPU() before executing\r
+ any floating point instructions. */\r
+ *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;\r
+\r
+ return pxTopOfStack;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+BaseType_t xPortStartScheduler( void )\r
+{\r
+uint32_t ulAPSR;\r
+\r
+ /* Only continue if the CPU is not in User mode. The CPU must be in a\r
+ Privileged mode for the scheduler to start. */\r
+ __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) );\r
+ ulAPSR &= portAPSR_MODE_BITS_MASK;\r
+ configASSERT( ulAPSR != portAPSR_USER_MODE );\r
+\r
+ if( ulAPSR != portAPSR_USER_MODE )\r
+ {\r
+ /* Start the timer that generates the tick ISR. */\r
+ configSETUP_TICK_INTERRUPT();\r
+#warning Install spurious handler\r
+ __enable_irq();\r
+ vPortRestoreTaskContext();\r
+ }\r
+\r
+ /* Will only get here if xTaskStartScheduler() was called with the CPU in\r
+ a non-privileged mode or the binary point register was not set to its lowest\r
+ possible value. */\r
+ return 0;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEndScheduler( void )\r
+{\r
+ /* Not implemented in ports where there is nothing to return to.\r
+ Artificially force an assert. */\r
+ configASSERT( ulCriticalNesting == 1000UL );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEnterCritical( void )\r
+{\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ /* Now interrupts are disabled ulCriticalNesting can be accessed\r
+ directly. Increment ulCriticalNesting to keep a count of how many times\r
+ portENTER_CRITICAL() has been called. */\r
+ ulCriticalNesting++;\r
+\r
+ /* This is not the interrupt safe version of the enter critical function so\r
+ assert() if it is being called from an interrupt context. Only API\r
+ functions that end in "FromISR" can be used in an interrupt. Only assert if\r
+ the critical nesting count is 1 to protect against recursive calls if the\r
+ assert function also uses a critical section. */\r
+ if( ulCriticalNesting == 1 )\r
+ {\r
+ configASSERT( ulPortInterruptNesting == 0 );\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortExitCritical( void )\r
+{\r
+ if( ulCriticalNesting > portNO_CRITICAL_NESTING )\r
+ {\r
+ /* Decrement the nesting count as the critical section is being\r
+ exited. */\r
+ ulCriticalNesting--;\r
+\r
+ /* If the nesting level has reached zero then all interrupt\r
+ priorities must be re-enabled. */\r
+ if( ulCriticalNesting == portNO_CRITICAL_NESTING )\r
+ {\r
+ /* Critical nesting has reached zero so all interrupt priorities\r
+ should be unmasked. */\r
+ portENABLE_INTERRUPTS();\r
+ }\r
+ }\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void FreeRTOS_Tick_Handler( void )\r
+{\r
+ portDISABLE_INTERRUPTS();\r
+\r
+ /* Increment the RTOS tick. */\r
+ if( xTaskIncrementTick() != pdFALSE )\r
+ {\r
+ ulPortYieldRequired = pdTRUE;\r
+ }\r
+\r
+ portENABLE_INTERRUPTS();\r
+ configCLEAR_TICK_INTERRUPT();\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortTaskUsesFPU( void )\r
+{\r
+uint32_t ulInitialFPSCR = 0;\r
+\r
+ /* A task is registering the fact that it needs an FPU context. Set the\r
+ FPU flag (which is saved as part of the task context). */\r
+ ulPortTaskHasFPUContext = pdTRUE;\r
+\r
+ /* Initialise the floating point status register. */\r
+ __asm( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) );\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+\r
+\r
--- /dev/null
+;/*\r
+; FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+; All rights reserved\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
+ EXTERN vTaskSwitchContext\r
+ EXTERN ulCriticalNesting\r
+ EXTERN pxCurrentTCB\r
+ EXTERN ulPortTaskHasFPUContext\r
+ EXTERN ulAsmAPIPriorityMask\r
+\r
+portSAVE_CONTEXT macro\r
+\r
+ ; Save the LR and SPSR onto the system mode stack before switching to\r
+ ; system mode to save the remaining system mode registers\r
+ SRSDB sp!, #SYS_MODE\r
+ CPS #SYS_MODE\r
+ PUSH {R0-R12, R14}\r
+\r
+ ; Push the critical nesting count\r
+ LDR R2, =ulCriticalNesting\r
+ LDR R1, [R2]\r
+ PUSH {R1}\r
+\r
+ ; Does the task have a floating point context that needs saving? If\r
+ ; ulPortTaskHasFPUContext is 0 then no.\r
+ LDR R2, =ulPortTaskHasFPUContext\r
+ LDR R3, [R2]\r
+ CMP R3, #0\r
+\r
+ ; Save the floating point context, if any\r
+ FMRXNE R1, FPSCR\r
+ VPUSHNE {D0-D15}\r
+#if configFPU_D32 == 1\r
+ VPUSHNE {D16-D31}\r
+#endif ; configFPU_D32\r
+ PUSHNE {R1}\r
+\r
+ ; Save ulPortTaskHasFPUContext itself\r
+ PUSH {R3}\r
+\r
+ ; Save the stack pointer in the TCB\r
+ LDR R0, =pxCurrentTCB\r
+ LDR R1, [R0]\r
+ STR SP, [R1]\r
+\r
+ endm\r
+\r
+; /**********************************************************************/\r
+\r
+portRESTORE_CONTEXT macro\r
+\r
+ ; Switch to system mode\r
+ CPS #SYS_MODE\r
+\r
+ ; Set the SP to point to the stack of the task being restored.\r
+ LDR R0, =pxCurrentTCB\r
+ LDR R1, [R0]\r
+ LDR SP, [R1]\r
+\r
+ ; Is there a floating point context to restore? If the restored\r
+ ; ulPortTaskHasFPUContext is zero then no.\r
+ LDR R0, =ulPortTaskHasFPUContext\r
+ POP {R1}\r
+ STR R1, [R0]\r
+ CMP R1, #0\r
+\r
+ ; Restore the floating point context, if any\r
+ POPNE {R0}\r
+#if configFPU_D32 == 1\r
+ VPOPNE {D16-D31}\r
+#endif ; configFPU_D32\r
+ VPOPNE {D0-D15}\r
+ VMSRNE FPSCR, R0\r
+\r
+ ; Restore the critical section nesting depth\r
+ LDR R0, =ulCriticalNesting\r
+ POP {R1}\r
+ STR R1, [R0]\r
+\r
+ ; Ensure the priority mask is correct for the critical nesting depth\r
+;_RB_ LDR R2, =portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS\r
+ CMP R1, #0\r
+ MOVEQ R4, #255\r
+;_RB_ LDRNE R4, =( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT )\r
+ STR R4, [r2]\r
+\r
+ ; Restore all system mode registers other than the SP (which is already\r
+ ; being used)\r
+ POP {R0-R12, R14}\r
+\r
+ ; Return to the task code, loading CPSR on the way.\r
+ RFEIA sp!\r
+\r
+ endm\r
+\r
+\r
+\r
+\r
+\r
--- /dev/null
+;/*\r
+; FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+; All rights reserved\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
+ INCLUDE portmacro.h\r
+\r
+ EXTERN vTaskSwitchContext\r
+ EXTERN ulPortYieldRequired\r
+ EXTERN ulPortInterruptNesting\r
+\r
+ PUBLIC FreeRTOS_SWI_Handler\r
+ PUBLIC FreeRTOS_IRQ_Handler\r
+ PUBLIC vPortRestoreTaskContext\r
+\r
+SYS_MODE EQU 0x1f\r
+SVC_MODE EQU 0x13\r
+IRQ_MODE EQU 0x12\r
+\r
+; AIC register definitions.\r
+AIC_IVR EQU 0xFFFFF010UL\r
+AIC_EOICR EQU 0xFFFFF038UL\r
+\r
+ SECTION .text:CODE:ROOT(2)\r
+ ARM\r
+\r
+ INCLUDE portASM.h\r
+\r
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
+; SVC handler is used to start the scheduler and yield a task.\r
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
+FreeRTOS_SWI_Handler\r
+\r
+ PRESERVE8\r
+\r
+ ; Save the context of the current task and select a new task to run.\r
+ portSAVE_CONTEXT\r
+ LDR R0, =vTaskSwitchContext\r
+ BLX R0\r
+\r
+vPortRestoreTaskContext\r
+ portRESTORE_CONTEXT\r
+\r
+\r
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
+; AIC interrupt handler\r
+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
+FreeRTOS_IRQ_Handler\r
+\r
+ ; Return to the interrupted instruction.\r
+ SUB lr, lr, #4\r
+\r
+ ; Push the return address and SPSR\r
+ PUSH {lr}\r
+ MRS lr, SPSR\r
+ PUSH {lr}\r
+\r
+ ; Change to supervisor mode to allow reentry.\r
+ CPS #SVC_MODE\r
+\r
+ ; Push used registers.\r
+ PUSH {r0-r4, r12}\r
+\r
+ ; Increment nesting count. r3 holds the address of ulPortInterruptNesting\r
+ ; for future use. r1 holds the original ulPortInterruptNesting value for\r
+ ; future use.\r
+ LDR r3, =ulPortInterruptNesting\r
+ LDR r1, [r3]\r
+ ADD r4, r1, #1\r
+ STR r4, [r3]\r
+\r
+ ; Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for\r
+ ; future use.\r
+ MOV r2, sp\r
+ AND r2, r2, #4\r
+ SUB sp, sp, r2\r
+\r
+ ; Call the interrupt handler\r
+ PUSH {r0-r3, lr}\r
+ LDR r1, =AIC_IVR\r
+ LDR r0, [r1]\r
+ STR r1, [r1] ; Write to IVR in case protect mode is being used.\r
+ BLX r0\r
+ POP {r0-r3, lr}\r
+ ADD sp, sp, r2\r
+\r
+ CPSID i\r
+\r
+ ; Write to the EOI register\r
+ LDR r4, =AIC_EOICR\r
+ STR r0, [r4]\r
+\r
+ ; Restore the old nesting count\r
+ STR r1, [r3]\r
+\r
+ ; A context switch is never performed if the nesting count is not 0\r
+ CMP r1, #0\r
+ BNE exit_without_switch\r
+\r
+ ; Did the interrupt request a context switch? r1 holds the address of\r
+ ; ulPortYieldRequired and r0 the value of ulPortYieldRequired for future\r
+ ; use.\r
+ LDR r1, =ulPortYieldRequired\r
+ LDR r0, [r1]\r
+ CMP r0, #0\r
+ BNE switch_before_exit\r
+\r
+exit_without_switch\r
+ ; No context switch. Restore used registers, LR_irq and SPSR before\r
+ ; returning.\r
+ POP {r0-r4, r12}\r
+ CPS #IRQ_MODE\r
+ POP {LR}\r
+ MSR SPSR_cxsf, LR\r
+ POP {LR}\r
+ MOVS PC, LR\r
+\r
+switch_before_exit\r
+ ; A context switch is to be performed. Clear the context switch pending\r
+ ; flag.\r
+ MOV r0, #0\r
+ STR r0, [r1]\r
+\r
+ ; Restore used registers, LR-irq and SPSR before saving the context\r
+ ; to the task stack.\r
+ POP {r0-r4, r12}\r
+ CPS #IRQ_MODE\r
+ POP {LR}\r
+ MSR SPSR_cxsf, LR\r
+ POP {LR}\r
+ portSAVE_CONTEXT\r
+\r
+ ; Call the function that selects the new task to execute.\r
+ ; vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD\r
+ ; instructions, or 8 byte aligned stack allocated data. LR does not need\r
+ ; saving as a new LR will be loaded by portRESTORE_CONTEXT anyway.\r
+ LDR r0, =vTaskSwitchContext\r
+ BLX r0\r
+\r
+ ; Restore the context of, and branch to, the task selected to execute next.\r
+ portRESTORE_CONTEXT\r
+\r
+\r
+ END\r
+\r
+\r
+\r
+\r
--- /dev/null
+/*\r
+ FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ All rights reserved\r
+\r
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * FreeRTOS provides completely free yet professionally developed, *\r
+ * robust, strictly quality controlled, supported, and cross *\r
+ * platform software that has become a de facto standard. *\r
+ * *\r
+ * Help yourself get started quickly and support the FreeRTOS *\r
+ * project by purchasing a FreeRTOS tutorial book, reference *\r
+ * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
+ * *\r
+ * Thank you! *\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
+\r
+ >>! NOTE: The modification to the GPL is included to allow you to !<<\r
+ >>! distribute a combined work that includes FreeRTOS without being !<<\r
+ >>! obliged to provide the source code for proprietary components !<<\r
+ >>! outside of the FreeRTOS kernel. !<<\r
+\r
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
+ FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
+ link: http://www.freertos.org/a00114.html\r
+\r
+ 1 tab == 4 spaces!\r
+\r
+ ***************************************************************************\r
+ * *\r
+ * Having a problem? Start by reading the FAQ "My application does *\r
+ * not run, what could be wrong?" *\r
+ * *\r
+ * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * *\r
+ ***************************************************************************\r
+\r
+ http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
+ license and Real Time Engineers Ltd. contact details.\r
+\r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
+\r
+ http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
+ Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
+ licenses offer ticketed support, indemnification and middleware.\r
+\r
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
+ engineered and independently SIL3 certified version for use in safety and\r
+ mission critical applications that require provable dependability.\r
+\r
+ 1 tab == 4 spaces!\r
+*/\r
+\r
+#ifndef PORTMACRO_H\r
+#define PORTMACRO_H\r
+\r
+/* IAR includes. */\r
+#ifdef __ICCARM__\r
+\r
+ #include <intrinsics.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 given hardware\r
+ * 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 uint32_t\r
+ #define portBASE_TYPE long\r
+\r
+ typedef portSTACK_TYPE StackType_t;\r
+ typedef long BaseType_t;\r
+ typedef unsigned long UBaseType_t;\r
+\r
+ typedef uint32_t TickType_t;\r
+ #define portMAX_DELAY ( TickType_t ) 0xffffffffUL\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ /* Hardware specifics. */\r
+ #define portSTACK_GROWTH ( -1 )\r
+ #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )\r
+ #define portBYTE_ALIGNMENT 8\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ /* Task utilities. */\r
+\r
+ /* Called at the end of an ISR that can cause a context switch. */\r
+ #define portEND_SWITCHING_ISR( xSwitchRequired )\\r
+ { \\r
+ extern uint32_t ulPortYieldRequired; \\r
+ \\r
+ if( xSwitchRequired != pdFALSE ) \\r
+ { \\r
+ ulPortYieldRequired = pdTRUE; \\r
+ } \\r
+ }\r
+\r
+ #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )\r
+ #define portYIELD() __asm( "SWI 0" );\r
+\r
+\r
+ /*-----------------------------------------------------------\r
+ * Critical section control\r
+ *----------------------------------------------------------*/\r
+\r
+ extern void vPortEnterCritical( void );\r
+ extern void vPortExitCritical( void );\r
+ extern uint32_t ulPortSetInterruptMask( void );\r
+ extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );\r
+\r
+ #define portENTER_CRITICAL() vPortEnterCritical();\r
+ #define portEXIT_CRITICAL() vPortExitCritical();\r
+ #define portDISABLE_INTERRUPTS() __disable_irq() /* No priority mask register so global disable is used. */\r
+ #define portENABLE_INTERRUPTS() __enable_irq()\r
+ #define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_state()\r
+ #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) __set_interrupt_state(x)\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ /* Task function macros as described on the FreeRTOS.org WEB site. These are\r
+ not required for this port but included in case common demo code that uses these\r
+ macros is used. */\r
+ #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+ #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
+\r
+ /* Prototype of the FreeRTOS tick handler. This must be installed as the\r
+ handler for whichever peripheral is used to generate the RTOS tick. */\r
+ void FreeRTOS_Tick_Handler( void );\r
+\r
+ /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()\r
+ before any floating point instructions are executed. */\r
+ void vPortTaskUsesFPU( void );\r
+ #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()\r
+\r
+ /* Architecture specific optimisations. */\r
+ #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1\r
+\r
+ /* Store/clear the ready priorities in a bit map. */\r
+ #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )\r
+ #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )\r
+\r
+ /*-----------------------------------------------------------*/\r
+\r
+ #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) )\r
+\r
+ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
+\r
+ #define portNOP() __asm volatile( "NOP" )\r
+\r
+\r
+ #ifdef __cplusplus\r
+ } /* extern C */\r
+ #endif\r
+\r
+ /* Suppress warnings that are generated by the IAR tools, but cannot be\r
+ fixed in the source code because to do so would cause other compilers to\r
+ generate warnings. */\r
+ #pragma diag_suppress=Pe191\r
+ #pragma diag_suppress=Pa082\r
+\r
+#endif /* __ICCARM__ */\r
+\r
+#endif /* PORTMACRO_H */\r
+\r
+++ /dev/null
-/*\r
- FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
- All rights reserved\r
-\r
- VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
-\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\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
-\r
- >>! NOTE: The modification to the GPL is included to allow you to !<<\r
- >>! distribute a combined work that includes FreeRTOS without being !<<\r
- >>! obliged to provide the source code for proprietary components !<<\r
- >>! outside of the FreeRTOS kernel. !<<\r
-\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
- WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
- FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
- link: http://www.freertos.org/a00114.html\r
-\r
- 1 tab == 4 spaces!\r
-\r
- ***************************************************************************\r
- * *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
- * *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
- * *\r
- ***************************************************************************\r
-\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\r
-\r
- http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
- compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
-\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\r
-\r
- http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
- engineered and independently SIL3 certified version for use in safety and\r
- mission critical applications that require provable dependability.\r
-\r
- 1 tab == 4 spaces!\r
-*/\r
-\r
-/* Standard includes. */\r
-#include <stdlib.h>\r
-\r
-/* IAR includes. */\r
-#include <intrinsics.h>\r
-\r
-/* Scheduler includes. */\r
-#include "FreeRTOS.h"\r
-#include "task.h"\r
-\r
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1\r
- /* Check the configuration. */\r
- #if( configMAX_PRIORITIES > 32 )\r
- #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.\r
- #endif\r
-#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
-\r
-/* A critical section is exited when the critical section nesting count reaches\r
-this value. */\r
-#define portNO_CRITICAL_NESTING ( ( uint32_t ) 0 )\r
-\r
-/* Tasks are not created with a floating point context, but can be given a\r
-floating point context after they have been created. A variable is stored as\r
-part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task\r
-does not have an FPU context, or any other value if the task does have an FPU\r
-context. */\r
-#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 )\r
-\r
-/* Constants required to setup the initial task context. */\r
-#define portINITIAL_SPSR ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */\r
-#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )\r
-#define portTHUMB_MODE_ADDRESS ( 0x01UL )\r
-\r
-/* Masks all bits in the APSR other than the mode bits. */\r
-#define portAPSR_MODE_BITS_MASK ( 0x1F )\r
-\r
-/* The value of the mode bits in the APSR when the CPU is executing in user\r
-mode. */\r
-#define portAPSR_USER_MODE ( 0x10 )\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-/*\r
- * Starts the first task executing. This function is necessarily written in\r
- * assembly code so is implemented in portASM.s.\r
- */\r
-extern void vPortRestoreTaskContext( void );\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-/* A variable is used to keep track of the critical section nesting. This\r
-variable has to be stored as part of the task context and must be initialised to\r
-a non zero value to ensure interrupts don't inadvertently become unmasked before\r
-the scheduler starts. As it is stored as part of the task context it will\r
-automatically be set to 0 when the first task is started. */\r
-volatile uint32_t ulCriticalNesting = 9999UL;\r
-\r
-/* Saved as part of the task context. If ulPortTaskHasFPUContext is non-zero\r
-then a floating point context must be saved and restored for the task. */\r
-uint32_t ulPortTaskHasFPUContext = pdFALSE;\r
-\r
-/* Set to 1 to pend a context switch from an ISR. */\r
-uint32_t ulPortYieldRequired = pdFALSE;\r
-\r
-/* Counts the interrupt nesting depth. A context switch is only performed if\r
-if the nesting depth is 0. */\r
-uint32_t ulPortInterruptNesting = 0UL;\r
-\r
-\r
-/*-----------------------------------------------------------*/\r
-\r
-#warning What about branch distance in asm file.\r
-#warning Does not support flop use in ISRs.\r
-#warning Level interrupts must be cleared in their handling function.\r
-#warning Can this be made generic by defining the vector address register externally?\r
-\r
-/*\r
- * See header file for description.\r
- */\r
-StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )\r
-{\r
- /* Setup the initial stack of the task. The stack is set exactly as\r
- expected by the portRESTORE_CONTEXT() macro.\r
-\r
- The fist real value on the stack is the status register, which is set for\r
- system mode, with interrupts enabled. A few NULLs are added first to ensure\r
- GDB does not try decoding a non-existent return address. */\r
- *pxTopOfStack = NULL;\r
- pxTopOfStack--;\r
- *pxTopOfStack = NULL;\r
- pxTopOfStack--;\r
- *pxTopOfStack = NULL;\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;\r
-\r
- if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )\r
- {\r
- /* The task will start in THUMB mode. */\r
- *pxTopOfStack |= portTHUMB_MODE_BIT;\r
- }\r
-\r
- pxTopOfStack--;\r
-#warning What about task exit error function?\r
- /* Next the return address, which in this case is the start of the task. */\r
- *pxTopOfStack = ( StackType_t ) pxCode;\r
- pxTopOfStack--;\r
-\r
- /* Next all the registers other than the stack pointer. */\r
- *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */\r
- pxTopOfStack--;\r
- *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */\r
- pxTopOfStack--;\r
-\r
- /* The task will start with a critical nesting count of 0 as interrupts are\r
- enabled. */\r
- *pxTopOfStack = portNO_CRITICAL_NESTING;\r
- pxTopOfStack--;\r
-\r
- /* The task will start without a floating point context. A task that uses\r
- the floating point hardware must call vPortTaskUsesFPU() before executing\r
- any floating point instructions. */\r
- *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;\r
-\r
- return pxTopOfStack;\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-BaseType_t xPortStartScheduler( void )\r
-{\r
-uint32_t ulAPSR;\r
-\r
- /* Only continue if the CPU is not in User mode. The CPU must be in a\r
- Privileged mode for the scheduler to start. */\r
- __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) );\r
- ulAPSR &= portAPSR_MODE_BITS_MASK;\r
- configASSERT( ulAPSR != portAPSR_USER_MODE );\r
-\r
- if( ulAPSR != portAPSR_USER_MODE )\r
- {\r
- /* Start the timer that generates the tick ISR. */\r
- configSETUP_TICK_INTERRUPT();\r
-#warning Install spurious handler\r
- __enable_irq();\r
- vPortRestoreTaskContext();\r
- }\r
-\r
- /* Will only get here if xTaskStartScheduler() was called with the CPU in\r
- a non-privileged mode or the binary point register was not set to its lowest\r
- possible value. */\r
- return 0;\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-void vPortEndScheduler( void )\r
-{\r
- /* Not implemented in ports where there is nothing to return to.\r
- Artificially force an assert. */\r
- configASSERT( ulCriticalNesting == 1000UL );\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-void vPortEnterCritical( void )\r
-{\r
- portDISABLE_INTERRUPTS();\r
-\r
- /* Now interrupts are disabled ulCriticalNesting can be accessed\r
- directly. Increment ulCriticalNesting to keep a count of how many times\r
- portENTER_CRITICAL() has been called. */\r
- ulCriticalNesting++;\r
-\r
- /* This is not the interrupt safe version of the enter critical function so\r
- assert() if it is being called from an interrupt context. Only API\r
- functions that end in "FromISR" can be used in an interrupt. Only assert if\r
- the critical nesting count is 1 to protect against recursive calls if the\r
- assert function also uses a critical section. */\r
- if( ulCriticalNesting == 1 )\r
- {\r
- configASSERT( ulPortInterruptNesting == 0 );\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-void vPortExitCritical( void )\r
-{\r
- if( ulCriticalNesting > portNO_CRITICAL_NESTING )\r
- {\r
- /* Decrement the nesting count as the critical section is being\r
- exited. */\r
- ulCriticalNesting--;\r
-\r
- /* If the nesting level has reached zero then all interrupt\r
- priorities must be re-enabled. */\r
- if( ulCriticalNesting == portNO_CRITICAL_NESTING )\r
- {\r
- /* Critical nesting has reached zero so all interrupt priorities\r
- should be unmasked. */\r
- portENABLE_INTERRUPTS();\r
- }\r
- }\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-void FreeRTOS_Tick_Handler( void )\r
-{\r
- portDISABLE_INTERRUPTS();\r
-\r
- /* Increment the RTOS tick. */\r
- if( xTaskIncrementTick() != pdFALSE )\r
- {\r
- ulPortYieldRequired = pdTRUE;\r
- }\r
-\r
- portENABLE_INTERRUPTS();\r
- configCLEAR_TICK_INTERRUPT();\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-void vPortTaskUsesFPU( void )\r
-{\r
-uint32_t ulInitialFPSCR = 0;\r
-\r
- /* A task is registering the fact that it needs an FPU context. Set the\r
- FPU flag (which is saved as part of the task context). */\r
- ulPortTaskHasFPUContext = pdTRUE;\r
-\r
- /* Initialise the floating point status register. */\r
- __asm( "FMXR FPSCR, %0" :: "r" (ulInitialFPSCR) );\r
-}\r
-/*-----------------------------------------------------------*/\r
-\r
-\r
-\r
+++ /dev/null
-;/*\r
-; FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
-; All rights reserved\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
- EXTERN vTaskSwitchContext\r
- EXTERN ulCriticalNesting\r
- EXTERN pxCurrentTCB\r
- EXTERN ulPortTaskHasFPUContext\r
- EXTERN ulAsmAPIPriorityMask\r
-\r
-portSAVE_CONTEXT macro\r
-\r
- ; Save the LR and SPSR onto the system mode stack before switching to\r
- ; system mode to save the remaining system mode registers\r
- SRSDB sp!, #SYS_MODE\r
- CPS #SYS_MODE\r
- PUSH {R0-R12, R14}\r
-\r
- ; Push the critical nesting count\r
- LDR R2, =ulCriticalNesting\r
- LDR R1, [R2]\r
- PUSH {R1}\r
-\r
- ; Does the task have a floating point context that needs saving? If\r
- ; ulPortTaskHasFPUContext is 0 then no.\r
- LDR R2, =ulPortTaskHasFPUContext\r
- LDR R3, [R2]\r
- CMP R3, #0\r
-\r
- ; Save the floating point context, if any\r
- FMRXNE R1, FPSCR\r
- VPUSHNE {D0-D15}\r
- VPUSHNE {D16-D31}\r
- PUSHNE {R1}\r
-\r
- ; Save ulPortTaskHasFPUContext itself\r
- PUSH {R3}\r
-\r
- ; Save the stack pointer in the TCB\r
- LDR R0, =pxCurrentTCB\r
- LDR R1, [R0]\r
- STR SP, [R1]\r
-\r
- endm\r
-\r
-; /**********************************************************************/\r
-\r
-portRESTORE_CONTEXT macro\r
-\r
- ; Switch to system mode\r
- CPS #SYS_MODE\r
-\r
- ; Set the SP to point to the stack of the task being restored.\r
- LDR R0, =pxCurrentTCB\r
- LDR R1, [R0]\r
- LDR SP, [R1]\r
-\r
- ; Is there a floating point context to restore? If the restored\r
- ; ulPortTaskHasFPUContext is zero then no.\r
- LDR R0, =ulPortTaskHasFPUContext\r
- POP {R1}\r
- STR R1, [R0]\r
- CMP R1, #0\r
-\r
- ; Restore the floating point context, if any\r
- POPNE {R0}\r
- VPOPNE {D16-D31}\r
- VPOPNE {D0-D15}\r
- VMSRNE FPSCR, R0\r
-\r
- ; Restore the critical section nesting depth\r
- LDR R0, =ulCriticalNesting\r
- POP {R1}\r
- STR R1, [R0]\r
-\r
- ; Ensure the priority mask is correct for the critical nesting depth\r
-;_RB_ LDR R2, =portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS\r
- CMP R1, #0\r
- MOVEQ R4, #255\r
-;_RB_ LDRNE R4, =( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT )\r
- STR R4, [r2]\r
-\r
- ; Restore all system mode registers other than the SP (which is already\r
- ; being used)\r
- POP {R0-R12, R14}\r
-\r
- ; Return to the task code, loading CPSR on the way.\r
- RFEIA sp!\r
-\r
- endm\r
-\r
-\r
-\r
-\r
-\r
+++ /dev/null
-;/*\r
-; FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
-; All rights reserved\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
- INCLUDE portmacro.h\r
-\r
- EXTERN vTaskSwitchContext\r
- EXTERN ulPortYieldRequired\r
- EXTERN ulPortInterruptNesting\r
-\r
- PUBLIC FreeRTOS_SWI_Handler\r
- PUBLIC FreeRTOS_IRQ_Handler\r
- PUBLIC vPortRestoreTaskContext\r
-\r
-SYS_MODE EQU 0x1f\r
-SVC_MODE EQU 0x13\r
-IRQ_MODE EQU 0x12\r
-\r
-; AIC register definitions.\r
-AIC_IVR EQU 0xFFFFF010UL\r
-AIC_EOICR EQU 0xFFFFF038UL\r
-\r
- SECTION .text:CODE:ROOT(2)\r
- ARM\r
-\r
- INCLUDE portASM.h\r
-\r
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
-; SVC handler is used to start the scheduler and yield a task.\r
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
-FreeRTOS_SWI_Handler\r
-\r
- PRESERVE8\r
-\r
- ; Save the context of the current task and select a new task to run.\r
- portSAVE_CONTEXT\r
- LDR R0, =vTaskSwitchContext\r
- BLX R0\r
-\r
-vPortRestoreTaskContext\r
- portRESTORE_CONTEXT\r
-\r
-\r
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
-; AIC interrupt handler\r
-;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;\r
-FreeRTOS_IRQ_Handler\r
-\r
- ; Return to the interrupted instruction.\r
- SUB lr, lr, #4\r
-\r
- ; Push the return address and SPSR\r
- PUSH {lr}\r
- MRS lr, SPSR\r
- PUSH {lr}\r
-\r
- ; Change to supervisor mode to allow reentry.\r
- CPS #SVC_MODE\r
-\r
- ; Push used registers.\r
- PUSH {r0-r4, r12}\r
-\r
- ; Increment nesting count. r3 holds the address of ulPortInterruptNesting\r
- ; for future use. r1 holds the original ulPortInterruptNesting value for\r
- ; future use.\r
- LDR r3, =ulPortInterruptNesting\r
- LDR r1, [r3]\r
- ADD r4, r1, #1\r
- STR r4, [r3]\r
-\r
- ; Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for\r
- ; future use.\r
- MOV r2, sp\r
- AND r2, r2, #4\r
- SUB sp, sp, r2\r
-\r
- ; Call the interrupt handler\r
- PUSH {r0-r3, lr}\r
- LDR r1, =AIC_IVR\r
- LDR r0, [r1]\r
- STR r1, [r1] ; Write to IVR in case protect mode is being used.\r
- BLX r0\r
- POP {r0-r3, lr}\r
- ADD sp, sp, r2\r
-\r
- CPSID i\r
-\r
- ; Write to the EOI register\r
- LDR r4, =AIC_EOICR\r
- STR r0, [r4]\r
-\r
- ; Restore the old nesting count\r
- STR r1, [r3]\r
-\r
- ; A context switch is never performed if the nesting count is not 0\r
- CMP r1, #0\r
- BNE exit_without_switch\r
-\r
- ; Did the interrupt request a context switch? r1 holds the address of\r
- ; ulPortYieldRequired and r0 the value of ulPortYieldRequired for future\r
- ; use.\r
- LDR r1, =ulPortYieldRequired\r
- LDR r0, [r1]\r
- CMP r0, #0\r
- BNE switch_before_exit\r
-\r
-exit_without_switch\r
- ; No context switch. Restore used registers, LR_irq and SPSR before\r
- ; returning.\r
- POP {r0-r4, r12}\r
- CPS #IRQ_MODE\r
- POP {LR}\r
- MSR SPSR_cxsf, LR\r
- POP {LR}\r
- MOVS PC, LR\r
-\r
-switch_before_exit\r
- ; A context switch is to be performed. Clear the context switch pending\r
- ; flag.\r
- MOV r0, #0\r
- STR r0, [r1]\r
-\r
- ; Restore used registers, LR-irq and SPSR before saving the context\r
- ; to the task stack.\r
- POP {r0-r4, r12}\r
- CPS #IRQ_MODE\r
- POP {LR}\r
- MSR SPSR_cxsf, LR\r
- POP {LR}\r
- portSAVE_CONTEXT\r
-\r
- ; Call the function that selects the new task to execute.\r
- ; vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD\r
- ; instructions, or 8 byte aligned stack allocated data. LR does not need\r
- ; saving as a new LR will be loaded by portRESTORE_CONTEXT anyway.\r
- LDR r0, =vTaskSwitchContext\r
- BLX r0\r
-\r
- ; Restore the context of, and branch to, the task selected to execute next.\r
- portRESTORE_CONTEXT\r
-\r
-\r
- END\r
-\r
-\r
-\r
-\r
+++ /dev/null
-/*\r
- FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
- All rights reserved\r
-\r
- VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
-\r
- ***************************************************************************\r
- * *\r
- * FreeRTOS provides completely free yet professionally developed, *\r
- * robust, strictly quality controlled, supported, and cross *\r
- * platform software that has become a de facto standard. *\r
- * *\r
- * Help yourself get started quickly and support the FreeRTOS *\r
- * project by purchasing a FreeRTOS tutorial book, reference *\r
- * manual, or both from: http://www.FreeRTOS.org/Documentation *\r
- * *\r
- * Thank you! *\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
-\r
- >>! NOTE: The modification to the GPL is included to allow you to !<<\r
- >>! distribute a combined work that includes FreeRTOS without being !<<\r
- >>! obliged to provide the source code for proprietary components !<<\r
- >>! outside of the FreeRTOS kernel. !<<\r
-\r
- FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
- WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
- FOR A PARTICULAR PURPOSE. Full license text is available from the following\r
- link: http://www.freertos.org/a00114.html\r
-\r
- 1 tab == 4 spaces!\r
-\r
- ***************************************************************************\r
- * *\r
- * Having a problem? Start by reading the FAQ "My application does *\r
- * not run, what could be wrong?" *\r
- * *\r
- * http://www.FreeRTOS.org/FAQHelp.html *\r
- * *\r
- ***************************************************************************\r
-\r
- http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
- license and Real Time Engineers Ltd. contact details.\r
-\r
- http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
- including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
- compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
-\r
- http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
- Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS\r
- licenses offer ticketed support, indemnification and middleware.\r
-\r
- http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
- engineered and independently SIL3 certified version for use in safety and\r
- mission critical applications that require provable dependability.\r
-\r
- 1 tab == 4 spaces!\r
-*/\r
-\r
-#ifndef PORTMACRO_H\r
-#define PORTMACRO_H\r
-\r
-/* IAR includes. */\r
-#ifdef __ICCARM__\r
-\r
- #include <intrinsics.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 given hardware\r
- * 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 uint32_t\r
- #define portBASE_TYPE long\r
-\r
- typedef portSTACK_TYPE StackType_t;\r
- typedef long BaseType_t;\r
- typedef unsigned long UBaseType_t;\r
-\r
- typedef uint32_t TickType_t;\r
- #define portMAX_DELAY ( TickType_t ) 0xffffffffUL\r
-\r
- /*-----------------------------------------------------------*/\r
-\r
- /* Hardware specifics. */\r
- #define portSTACK_GROWTH ( -1 )\r
- #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )\r
- #define portBYTE_ALIGNMENT 8\r
-\r
- /*-----------------------------------------------------------*/\r
-\r
- /* Task utilities. */\r
-\r
- /* Called at the end of an ISR that can cause a context switch. */\r
- #define portEND_SWITCHING_ISR( xSwitchRequired )\\r
- { \\r
- extern uint32_t ulPortYieldRequired; \\r
- \\r
- if( xSwitchRequired != pdFALSE ) \\r
- { \\r
- ulPortYieldRequired = pdTRUE; \\r
- } \\r
- }\r
-\r
- #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )\r
- #define portYIELD() __asm( "SWI 0" );\r
-\r
-\r
- /*-----------------------------------------------------------\r
- * Critical section control\r
- *----------------------------------------------------------*/\r
-\r
- extern void vPortEnterCritical( void );\r
- extern void vPortExitCritical( void );\r
- extern uint32_t ulPortSetInterruptMask( void );\r
- extern void vPortClearInterruptMask( uint32_t ulNewMaskValue );\r
-\r
- #define portENTER_CRITICAL() vPortEnterCritical();\r
- #define portEXIT_CRITICAL() vPortExitCritical();\r
- #define portDISABLE_INTERRUPTS() __disable_irq() /* No priority mask register so global disable is used. */\r
- #define portENABLE_INTERRUPTS() __enable_irq()\r
- #define portSET_INTERRUPT_MASK_FROM_ISR() __get_interrupt_state()\r
- #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) __set_interrupt_state(x)\r
-\r
- /*-----------------------------------------------------------*/\r
-\r
- /* Task function macros as described on the FreeRTOS.org WEB site. These are\r
- not required for this port but included in case common demo code that uses these\r
- macros is used. */\r
- #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
- #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )\r
-\r
- /* Prototype of the FreeRTOS tick handler. This must be installed as the\r
- handler for whichever peripheral is used to generate the RTOS tick. */\r
- void FreeRTOS_Tick_Handler( void );\r
-\r
- /* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()\r
- before any floating point instructions are executed. */\r
- void vPortTaskUsesFPU( void );\r
- #define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()\r
-\r
- /* Architecture specific optimisations. */\r
- #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1\r
-\r
- /* Store/clear the ready priorities in a bit map. */\r
- #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )\r
- #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )\r
-\r
- /*-----------------------------------------------------------*/\r
-\r
- #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __CLZ( uxReadyPriorities ) )\r
-\r
- #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */\r
-\r
- #define portNOP() __asm volatile( "NOP" )\r
-\r
-\r
- #ifdef __cplusplus\r
- } /* extern C */\r
- #endif\r
-\r
- /* Suppress warnings that are generated by the IAR tools, but cannot be\r
- fixed in the source code because to do so would cause other compilers to\r
- generate warnings. */\r
- #pragma diag_suppress=Pe191\r
- #pragma diag_suppress=Pa082\r
-\r
-#endif /* __ICCARM__ */\r
-\r
-#endif /* PORTMACRO_H */\r
-\r
projects / freertos / commitdiff