From 99385048eaeaf3a026436ea6b73fb5c7cc7d2793 Mon Sep 17 00:00:00 2001 From: richardbarry Date: Fri, 6 Apr 2012 20:05:43 +0000 Subject: [PATCH] Copy Tasking CM4F files from the project directory into their correct location in the FreeRTOS/Source directory. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@1729 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- Source/portable/Tasking/ARM_CM4F/port.c | 234 ++++++++++++++++++ Source/portable/Tasking/ARM_CM4F/port_asm.asm | 168 +++++++++++++ Source/portable/Tasking/ARM_CM4F/portmacro.h | 144 +++++++++++ 3 files changed, 546 insertions(+) create mode 100644 Source/portable/Tasking/ARM_CM4F/port.c create mode 100644 Source/portable/Tasking/ARM_CM4F/port_asm.asm create mode 100644 Source/portable/Tasking/ARM_CM4F/portmacro.h diff --git a/Source/portable/Tasking/ARM_CM4F/port.c b/Source/portable/Tasking/ARM_CM4F/port.c new file mode 100644 index 000000000..2e34b8737 --- /dev/null +++ b/Source/portable/Tasking/ARM_CM4F/port.c @@ -0,0 +1,234 @@ +/* + FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd. + + + *************************************************************************** + * * + * 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. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the ARM CM4F port. + *----------------------------------------------------------*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Constants required to manipulate the NVIC. */ +#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 ) +#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 ) +#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 ) +#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 ) +#define portNVIC_SYSTICK_CLK 0x00000004 +#define portNVIC_SYSTICK_INT 0x00000002 +#define portNVIC_SYSTICK_ENABLE 0x00000001 +#define portNVIC_PENDSVSET 0x10000000 +#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 ) +#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 ) + +/* Constants required to manipulate the VFP. */ +#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */ +#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL ) + +/* Constants required to set up the initial stack. */ +#define portINITIAL_XPSR ( 0x01000000 ) +#define portINITIAL_EXEC_RETURN ( 0xfffffffd ) + +/* The priority used by the kernel is assigned to a variable to make access +from inline assembler easier. */ +const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY; + +/* Each task maintains its own interrupt status in the critical nesting +variable. */ +static unsigned long ulCriticalNesting = 0xaaaaaaaaUL; + +/* + * Setup the timer to generate the tick interrupts. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * Exception handlers. + */ +void SysTick_Handler( void ); + +/* + * Functions defined in port_asm.asm. + */ +extern void vPortEnableVFP( void ); +extern void vPortStartFirstTask( void ); + +/* This exists purely to allow the const to be used from within the +port_asm.asm assembly file. */ +const unsigned long ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY; + +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) +{ + /* Simulate the stack frame as it would be created by a context switch + interrupt. */ + + /* Offset added to account for the way the MCU uses the stack on entry/exit + of interrupts, and to ensure alignment. */ + pxTopOfStack -= 2; + + *pxTopOfStack = portINITIAL_XPSR; /* xPSR */ + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */ + pxTopOfStack--; + *pxTopOfStack = 0; /* LR */ + + /* Save code space by skipping register initialisation. */ + pxTopOfStack -= 5; /* R12, R3, R2 and R1. */ + *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */ + + /* A save method is being used that requiers each task to maintain its + own exec return value. */ + pxTopOfStack--; + *pxTopOfStack = portINITIAL_EXEC_RETURN; + + pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */ + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +/* + * See header file for description. + */ +portBASE_TYPE xPortStartScheduler( void ) +{ + /* Make PendSV and SysTick the lowest priority interrupts. */ + *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI; + *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI; + + /* Start the timer that generates the tick ISR. Interrupts are disabled + here already. */ + prvSetupTimerInterrupt(); + + /* Initialise the critical nesting count ready for the first task. */ + ulCriticalNesting = 0; + + /* Ensure the VFP is enabled - it should be anyway. */ + vPortEnableVFP(); + + /* Lazy save always. */ + *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS; + + /* Start the first task. */ + vPortStartFirstTask(); + + /* Should not get here! */ + return 0; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the CM4F port will require this function as there + is nothing to return to. */ +} +/*-----------------------------------------------------------*/ + +void vPortYieldFromISR( void ) +{ + /* Set a PendSV to request a context switch. */ + *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + ulCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + ulCriticalNesting--; + if( ulCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void SysTick_Handler( void ) +{ +unsigned long ulDummy; + + /* If using preemption, also force a context switch. */ + #if configUSE_PREEMPTION == 1 + *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET; + #endif + + ulDummy = portSET_INTERRUPT_MASK_FROM_ISR(); + { + vTaskIncrementTick(); + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy ); +} +/*-----------------------------------------------------------*/ + +/* + * Setup the systick timer to generate the tick interrupts at the required + * frequency. + */ +void prvSetupTimerInterrupt( void ) +{ + /* Configure SysTick to interrupt at the requested rate. */ + *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL; + *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE; +} +/*-----------------------------------------------------------*/ + diff --git a/Source/portable/Tasking/ARM_CM4F/port_asm.asm b/Source/portable/Tasking/ARM_CM4F/port_asm.asm new file mode 100644 index 000000000..3f9dd6de7 --- /dev/null +++ b/Source/portable/Tasking/ARM_CM4F/port_asm.asm @@ -0,0 +1,168 @@ +;/* +; FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd. +; +; +; *************************************************************************** +; * * +; * 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. +;*/ + + .extern pxCurrentTCB + .extern vTaskSwitchContext + .extern ulMaxSyscallInterruptPriorityConst + + .global PendSV_Handler + .global SVC_Handler + .global vPortStartFirstTask + .global vPortEnableVFP + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +PendSV_Handler: .type func + mrs r0, psp + + ;Get the location of the current TCB. + ldr.w r3, =pxCurrentTCB + ldr r2, [r3] + + ;Is the task using the FPU context? If so, push high vfp registers. + tst r14, #0x10 + it eq + vstmdbeq r0!, {s16-s31} + + ;Save the core registers. + stmdb r0!, {r4-r11, r14} + + ;Save the new top of stack into the first member of the TCB. + str r0, [r2] + + stmdb sp!, {r3, r14} + ldr.w r0, =ulMaxSyscallInterruptPriorityConst + msr basepri, r0 + bl vTaskSwitchContext + mov r0, #0 + msr basepri, r0 + ldmia sp!, {r3, r14} + + ;The first item in pxCurrentTCB is the task top of stack. + ldr r1, [r3] + ldr r0, [r1] + + ;Pop the core registers. + ldmia r0!, {r4-r11, r14} + + ;Is the task using the FPU context? If so, pop the high vfp registers too. + tst r14, #0x10 + it eq + vldmiaeq r0!, {s16-s31} + + msr psp, r0 + bx r14 + + .size PendSV_Handler, $-PendSV_Handler + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +SVC_Handler: .type func + ;Get the location of the current TCB. + ldr.w r3, =pxCurrentTCB + ldr r1, [r3] + ldr r0, [r1] + ;Pop the core registers. + ldmia r0!, {r4-r11, r14} + msr psp, r0 + mov r0, #0 + msr basepri, r0 + bx r14 + .size SVC_Handler, $-SVC_Handler + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +vPortStartFirstTask .type func + ;Use the NVIC offset register to locate the stack. + ldr.w r0, =0xE000ED08 + ldr r0, [r0] + ldr r0, [r0] + ;Set the msp back to the start of the stack. + msr msp, r0 + ;Call SVC to start the first task. + cpsie i + svc 0 + .size vPortStartFirstTask, $-vPortStartFirstTask + .endsec + +;----------------------------------------------------------- + + .section .text + .thumb + .align 4 +vPortEnableVFP .type func + ;The FPU enable bits are in the CPACR. + ldr.w r0, =0xE000ED88 + ldr r1, [r0] + + ;Enable CP10 and CP11 coprocessors, then save back. + orr r1, r1, #( 0xf << 20 ) + str r1, [r0] + bx r14 + .size vPortEnableVFP, $-vPortEnableVFP + .endsec + + + .end + diff --git a/Source/portable/Tasking/ARM_CM4F/portmacro.h b/Source/portable/Tasking/ARM_CM4F/portmacro.h new file mode 100644 index 000000000..2f671fba1 --- /dev/null +++ b/Source/portable/Tasking/ARM_CM4F/portmacro.h @@ -0,0 +1,144 @@ +/* + FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd. + + + *************************************************************************** + * * + * 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. +*/ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned portLONG +#define portBASE_TYPE long + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef unsigned portSHORT portTickType; + #define portMAX_DELAY ( portTickType ) 0xffff +#else + typedef unsigned portLONG portTickType; + #define portMAX_DELAY ( portTickType ) 0xffffffff +#endif +/*-----------------------------------------------------------*/ + +/* Architecture specifics. */ +#define portSTACK_GROWTH ( -1 ) +#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) +#define portBYTE_ALIGNMENT 8 +/*-----------------------------------------------------------*/ + + +/* Scheduler utilities. */ +extern void vPortYieldFromISR( void ); + +#define portYIELD() vPortYieldFromISR() + +#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR() +/*-----------------------------------------------------------*/ + + +/* Critical section management. */ + +/* + * Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other + * registers. r0 is clobbered. + */ +#define portSET_INTERRUPT_MASK() __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY ) + +/* + * Set basepri back to 0 without effective other registers. + * r0 is clobbered. + */ +#define portCLEAR_INTERRUPT_MASK() __set_BASEPRI( 0 ) + +#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK() +#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x + + +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); + +#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK() +#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK() +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#define portNOP() + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + -- 2.39.5