From 2284d4935ee27dde026affeec54215d810981b55 Mon Sep 17 00:00:00 2001
From: richardbarry <richardbarry@1d2547de-c912-0410-9cb9-b8ca96c0e9e2>
Date: Sat, 11 Jun 2011 21:04:17 +0000
Subject: [PATCH] Work on the Full build configuration for the MicroBlaze. 
 Still a work in progress - not all tasks are running yet.

git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@1452 1d2547de-c912-0410-9cb9-b8ca96c0e9e2
---
 .../SDKProjects/RTOSDemoSource/.cproject      |   5 +-
 .../RTOSDemoSource/FreeRTOSConfig.h           |   5 +-
 .../portable/GCC/MicroBlaze/portasm.S         | 263 ++++++++++++++++++
 .../SDKProjects/RTOSDemoSource/main-blinky.c  |  12 -
 .../SDKProjects/RTOSDemoSource/main-full.c    |  33 +--
 5 files changed, 279 insertions(+), 39 deletions(-)
 create mode 100644 Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portasm.S

diff --git a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/.cproject b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/.cproject
index de261f961..3587cf6cc 100644
--- a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/.cproject
+++ b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/.cproject
@@ -44,7 +44,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/FreeRTOS_Source/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/FreeRTOS_Source/portable/GCC/MicroBlaze}&quot;"/>
 								</option>
-								<option id="xilinx.gnu.compiler.symbols.defined.522894226" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined" valueType="definedSymbols"/>
+								<option id="xilinx.gnu.compiler.symbols.defined.522894226" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
 								<inputType id="xilinx.gnu.compiler.input.264309084" name="C source files" superClass="xilinx.gnu.compiler.input"/>
 							</tool>
 							<tool id="xilinx.gnu.mb.cxx.toolchain.compiler.debug.1757864406" name="MicroBlaze g++ compiler" superClass="xilinx.gnu.mb.cxx.toolchain.compiler.debug">
@@ -990,6 +990,9 @@
 							<builder buildPath="${workspace_loc:/RTOSDemoSource/Debug}" enableAutoBuild="true" id="xilinx.gnu.mb.toolchain.builder.debug.2034661333" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU make" superClass="xilinx.gnu.mb.toolchain.builder.debug"/>
 							<tool id="xilinx.gnu.mb.c.toolchain.assembler.debug.1663720311" name="MicroBlaze gcc assembler" superClass="xilinx.gnu.mb.c.toolchain.assembler.debug">
 								<option id="xilinx.gnu.mb.assembler.usele.787661810" name="Produce little endian code (-mlittle-endian)" superClass="xilinx.gnu.mb.assembler.usele" value="true" valueType="boolean"/>
+								<option id="xilinx.gnu.both.asm.option.include.paths.67817492" name="Include Paths (-I)" superClass="xilinx.gnu.both.asm.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}&quot;"/>
+								</option>
 								<inputType id="xilinx.gnu.assembler.input.828396103" superClass="xilinx.gnu.assembler.input"/>
 							</tool>
 							<tool id="xilinx.gnu.mb.c.toolchain.compiler.debug.1610218702" name="MicroBlaze gcc compiler" superClass="xilinx.gnu.mb.c.toolchain.compiler.debug">
diff --git a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOSConfig.h b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOSConfig.h
index 77d37d9bc..c862d9465 100644
--- a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOSConfig.h
+++ b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOSConfig.h
@@ -83,7 +83,7 @@
 #define configCPU_CLOCK_HZ				( XPAR_MICROBLAZE_CORE_CLOCK_FREQ_HZ ) /* Not actually used in this demo as the timer is set up in main and uses the peripheral clock, not the CPU clock. */
 #define configTICK_RATE_HZ				( ( portTickType ) 1000 )
 #define configMAX_PRIORITIES			( ( unsigned portBASE_TYPE ) 6 )
-#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 40 * 1024 ) )
+#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 60 * 1024 ) )
 #define configMAX_TASK_NAME_LEN			( 10 )
 #define configUSE_TRACE_FACILITY		0
 #define configUSE_16_BIT_TICKS			1
@@ -119,8 +119,7 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelayUntil			1
 #define INCLUDE_vTaskDelay				1
 
-extern void vAssertCalled( char *pcFile, long lLine );
-#define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ );
+#define configASSERT( x ) if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); for( ;; ); }
 	
 #define configINTERRUPT_CONTROLLER_TO_USE XPAR_INTC_SINGLE_DEVICE_ID
 
diff --git a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portasm.S b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portasm.S
new file mode 100644
index 000000000..c1ad4fe6e
--- /dev/null
+++ b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portasm.S
@@ -0,0 +1,263 @@
+/*
+    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
+
+
+	FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
+	Atollic AB - Atollic provides professional embedded systems development
+	tools for C/C++ development, code analysis and test automation.
+	See http://www.atollic.com
+
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    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!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *                                                                       *
+    ***************************************************************************
+
+
+    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.
+    >>>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 Richard Barry, contact details for whom are available on the
+    FreeRTOS WEB site.
+
+    1 tab == 4 spaces!
+
+    http://www.FreeRTOS.org - Documentation, latest information, license and
+    contact details.
+
+    http://www.SafeRTOS.com - A version that is certified for use in safety
+    critical systems.
+
+    http://www.OpenRTOS.com - Commercial support, development, porting,
+    licensing and training services.
+*/
+
+#include "FreeRTOSConfig.h"
+
+	.extern pxCurrentTCB
+	.extern XIntc_DeviceInterruptHandler
+	.extern vTaskSwitchContext
+	.extern uxCriticalNesting
+	.extern pulISRStack
+
+	.global _interrupt_handler
+	.global VPortYieldASM
+	.global vPortStartFirstTask
+
+
+.macro portSAVE_CONTEXT
+
+	/* Make room for the context on the stack. */
+	addik r1, r1, -132
+
+	/* Save r31 so it can then be used as a temporary. */
+	swi r31, r1, 4
+
+	/* Copy the msr into r31 - this is stacked later. */
+	mfs r31, rmsr
+
+	/* Stack general registers. */
+	swi r30, r1, 12
+	swi r29, r1, 16
+	swi r28, r1, 20
+	swi r27, r1, 24
+	swi r26, r1, 28
+	swi r25, r1, 32
+	swi r24, r1, 36
+	swi r23, r1, 40
+	swi r22, r1, 44
+	swi r21, r1, 48
+	swi r20, r1, 52
+	swi r19, r1, 56
+	swi r18, r1, 60
+	swi r17, r1, 64
+	swi r16, r1, 68
+	swi r15, r1, 72
+	swi r13, r1, 80
+	swi r12, r1, 84
+	swi r11, r1, 88
+	swi r10, r1, 92
+	swi r9, r1, 96
+	swi r8, r1, 100
+	swi r7, r1, 104
+	swi r6, r1, 108
+	swi r5, r1, 112
+	swi r4, r1, 116
+	swi r3, r1, 120
+	swi r2, r1, 124
+
+	/* Stack the critical section nesting value. */
+	lwi r3, r0, uxCriticalNesting
+	swi r3, r1, 128
+
+	/* Save the top of stack value to the TCB. */
+	lwi r3, r0, pxCurrentTCB
+	sw	r1, r0, r3
+	
+	.endm
+
+.macro portRESTORE_CONTEXT
+
+	/* Load the top of stack value from the TCB. */
+	lwi r3, r0, pxCurrentTCB
+	lw	r1, r0, r3	
+
+	/* Restore the general registers. */
+	lwi r31, r1, 4		
+	lwi r30, r1, 12		
+	lwi r29, r1, 16	
+	lwi r28, r1, 20	
+	lwi r27, r1, 24	
+	lwi r26, r1, 28	
+	lwi r25, r1, 32	
+	lwi r24, r1, 36	
+	lwi r23, r1, 40	
+	lwi r22, r1, 44	
+	lwi r21, r1, 48	
+	lwi r20, r1, 52	
+	lwi r19, r1, 56	
+	lwi r18, r1, 60	
+	lwi r17, r1, 64	
+	lwi r16, r1, 68	
+	lwi r15, r1, 72	
+	lwi r14, r1, 76	
+	lwi r13, r1, 80	
+	lwi r12, r1, 84	
+	lwi r11, r1, 88	
+	lwi r10, r1, 92	
+	lwi r9, r1, 96	
+	lwi r8, r1, 100	
+	lwi r7, r1, 104
+	lwi r6, r1, 108
+	lwi r5, r1, 112
+	lwi r4, r1, 116
+	lwi r2, r1, 124
+
+	/* Reload the rmsr from the stack. */
+	lwi r3, r1, 8
+	mts rmsr, r3
+
+	/* Load the critical nesting value. */
+	lwi r3, r1, 128
+	swi r3, r0, uxCriticalNesting
+
+	/* Test the critical nesting value.  If it is non zero then the task last
+	exited the running state using a yield.  If it is zero, then the task
+	last exited the running state through an interrupt. */
+	xori r3, r3, 0
+	bnei r3, exit_from_yield
+
+	/* r3 was being used as a temporary.  Now restore its true value from the
+	stack. */
+	lwi r3, r1, 120
+
+	/* Remove the stack frame. */
+	addik r1, r1, 132
+
+	/* Return using rtid so interrupts are re-enabled as this function is
+	exited. */
+	rtid r14, 0
+	or r0, r0, r0
+
+	.endm
+
+	.text
+	.align  2
+
+/* This function is used to exit portRESTORE_CONTEXT() if the task being
+returned to last left the Running state by calling taskYIELD() (rather than
+being preempted by an interrupt. */
+exit_from_yield:
+
+	/* r3 was being used as a temporary.  Now restore its true value from the
+	stack. */
+	lwi r3, r1, 120
+
+	/* Remove the stack frame. */
+	addik r1, r1, 132
+
+	/* Return to the task. */
+	rtsd r14, 0
+	or r0, r0, r0
+
+
+_interrupt_handler:
+
+	portSAVE_CONTEXT
+
+	/* Stack msr. */
+	swi r31, r1, 8
+
+	/* Stack the return address. */
+	swi r14, r1, 76
+
+	/* Switch to the ISR stack. */
+	lwi r1, r0, pulISRStack
+
+	/* The parameter to the interrupt handler. */
+	ori     r5, r0, configINTERRUPT_CONTROLLER_TO_USE
+
+	/* Execute any pending interrupts. */
+	bralid r15, XIntc_DeviceInterruptHandler
+	or r0, r0, r0
+
+	/* Restore the context of the next task scheduled to execute. */
+	portRESTORE_CONTEXT
+
+
+VPortYieldASM:
+
+	portSAVE_CONTEXT
+
+	/* Stack msr. */
+	swi r31, r1, 8
+
+	/* Modify the return address so a return is done to the instruction after
+	the call to VPortYieldASM. */
+	addi r14, r14, 8
+	swi r14, r1, 76
+
+	/* Switch to use the ISR stack. */
+	lwi r1, r0, pulISRStack
+
+	/* Select the next task to execute. */
+	bralid r15, vTaskSwitchContext
+	or r0, r0, r0
+
+	/* Restore the context of the next task scheduled to execute. */
+	portRESTORE_CONTEXT
+
+vPortStartFirstTask:
+
+	portRESTORE_CONTEXT
+	
+	
+
+
+
+
diff --git a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-blinky.c b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-blinky.c
index d16a45962..234b730c2 100644
--- a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-blinky.c
+++ b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-blinky.c
@@ -478,15 +478,3 @@ unsigned long ulCSR;
 }
 /*-----------------------------------------------------------*/
 
-void vAssertCalled( char *pcFile, long lLine )
-{
-volatile unsigned long ul = 1;
-
-	taskDISABLE_INTERRUPTS();
-	while( ul == 1 )
-	{
-		/* Just for somewhere to put a breakpoint. */
-		portNOP();
-	}
-	taskENABLE_INTERRUPTS();
-}
diff --git a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-full.c b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-full.c
index 97e1c48da..8a97747fc 100644
--- a/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-full.c
+++ b/Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/main-full.c
@@ -249,25 +249,24 @@ static XTmrCtr xTimer0Instance;
 static xTimerHandle xCheckTimer = NULL;
 
 /*-----------------------------------------------------------*/
-volatile int xyz = 1;
 
 int main( void )
 {
 	/* Configure the interrupt controller, LED outputs and button inputs. */
 	prvSetupHardware();
-	
+
 	/* Start the reg test tasks which test the context switching mechanism. */
-//	xTaskCreate( vRegisterTest1, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
-//	xTaskCreate( vRegisterTest2, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vRegisterTest1, ( const signed char * const ) "RegTst1", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vRegisterTest2, ( const signed char * const ) "RegTst2", configMINIMAL_STACK_SIZE, ( void * ) 0, tskIDLE_PRIORITY, NULL );
 
 	/* The web server task. */
 //_RB_	xTaskCreate( vuIP_Task, "uIP", mainuIP_STACK_SIZE, NULL, mainuIP_TASK_PRIORITY, NULL );
 
 	/* Create the standard demo tasks. */
-//	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
-//	vCreateBlockTimeTasks();
-//	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
-//	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
+	vCreateBlockTimeTasks();
+	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 	vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
 //	vStartQueuePeekTasks();
@@ -284,13 +283,13 @@ int main( void )
 	the reasons stated in the comments above the call to
 	vStartTimerDemoTask(), that the check timer is not actually started
 	until after the scheduler has been started. */
-	xCheckTimer = xTimerCreate( ( const signed char * ) "Check timer", mainNO_ERROR_CHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
+//	xCheckTimer = xTimerCreate( ( const signed char * ) "Check timer", mainNO_ERROR_CHECK_TIMER_PERIOD, pdTRUE, ( void * ) 0, vCheckTimerCallback );
 
 	/* Ensure the check timer will start running as soon as the scheduler
 	starts.  The block time is set to 0 (mainDONT_BLOCK), but would be
 	ingnored at this point anyway as block times can only be specified when
 	the scheduler is running. */
-	xTimerStart( xCheckTimer, mainDONT_BLOCK );
+//	xTimerStart( xCheckTimer, mainDONT_BLOCK );
 
 	/* Start the tasks running. */
 	vTaskStartScheduler();
@@ -537,6 +536,7 @@ const unsigned char ucSetToOutput = 0U;
 
 	configASSERT( ( xStatus == pdPASS ) );
 #else
+	taskDISABLE_INTERRUPTS();
 	vParTestInitialise();
 #endif //_RB_
 
@@ -546,16 +546,3 @@ const unsigned char ucSetToOutput = 0U;
 }
 /*-----------------------------------------------------------*/
 
-void vAssertCalled( char *pcFile, long lLine )
-{
-volatile unsigned long ul = 1;
-
-	taskDISABLE_INTERRUPTS();
-	while( ul == 1 )
-	{
-		/* Just for somewhere to put a breakpoint. */
-		portNOP();
-	}
-	taskENABLE_INTERRUPTS();
-}
-
-- 
2.39.5