2 FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 /*-----------------------------------------------------------
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66 * Implementation of functions defined in portable.h for the ARM CM0 port.
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67 *----------------------------------------------------------*/
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69 /* Scheduler includes. */
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70 #include "FreeRTOS.h"
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73 /* Constants required to manipulate the NVIC. */
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74 #define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long *) 0xe000e010 )
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75 #define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long *) 0xe000e014 )
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76 #define portNVIC_INT_CTRL ( ( volatile unsigned long *) 0xe000ed04 )
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77 #define portNVIC_SYSPRI2 ( ( volatile unsigned long *) 0xe000ed20 )
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78 #define portNVIC_SYSTICK_CLK 0x00000004
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79 #define portNVIC_SYSTICK_INT 0x00000002
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80 #define portNVIC_SYSTICK_ENABLE 0x00000001
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81 #define portNVIC_PENDSVSET 0x10000000
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82 #define portMIN_INTERRUPT_PRIORITY ( 255UL )
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83 #define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
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84 #define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
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86 /* Constants required to set up the initial stack. */
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87 #define portINITIAL_XPSR ( 0x01000000 )
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89 /* Each task maintains its own interrupt status in the critical nesting
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91 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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94 * Setup the timer to generate the tick interrupts.
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96 static void prvSetupTimerInterrupt( void );
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99 * Exception handlers.
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101 void xPortPendSVHandler( void ) __attribute__ (( naked ));
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102 void xPortSysTickHandler( void );
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103 void vPortSVCHandler( void ) __attribute__ (( naked ));
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106 * Start first task is a separate function so it can be tested in isolation.
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108 static void vPortStartFirstTask( void ) __attribute__ (( naked ));
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111 * Used to catch tasks that attempt to return from their implementing function.
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113 static void prvTaskExitError( void );
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115 /*-----------------------------------------------------------*/
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118 * See header file for description.
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120 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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122 /* Simulate the stack frame as it would be created by a context switch
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124 pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
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125 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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127 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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129 *pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError; /* LR */
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130 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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131 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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132 pxTopOfStack -= 8; /* R11..R4. */
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134 return pxTopOfStack;
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136 /*-----------------------------------------------------------*/
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138 static void prvTaskExitError( void )
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140 /* A function that implements a task must not exit or attempt to return to
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141 its caller as there is nothing to return to. If a task wants to exit it
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142 should instead call vTaskDelete( NULL ).
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144 Artificially force an assert() to be triggered if configASSERT() is
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145 defined, then stop here so application writers can catch the error. */
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146 configASSERT( uxCriticalNesting == ~0UL );
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147 portDISABLE_INTERRUPTS();
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150 /*-----------------------------------------------------------*/
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152 void vPortSVCHandler( void )
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155 " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
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156 " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
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157 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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158 " add r0, r0, #16 \n" /* Move to the high registers. */
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159 " ldmia r0!, {r4-r7} \n" /* Pop the high registers. */
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165 " msr psp, r0 \n" /* Remember the new top of stack for the task. */
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167 " sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
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168 " ldmia r0!, {r4-r7} \n" /* Pop low registers. */
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169 " mov r1, r14 \n" /* OR R14 with 0x0d. */
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170 " movs r0, #0x0d \n"
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175 "pxCurrentTCBConst2: .word pxCurrentTCB \n"
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178 /*-----------------------------------------------------------*/
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180 void vPortStartFirstTask( void )
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182 /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
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183 table offset register that can be used to locate the initial stack value.
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184 Not all M0 parts have the application vector table at address 0. */
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186 " cpsie i \n" /* Globally enable interrupts. */
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187 " svc 0 \n" /* System call to start first task. */
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191 /*-----------------------------------------------------------*/
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194 * See header file for description.
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196 portBASE_TYPE xPortStartScheduler( void )
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198 /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
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199 *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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200 *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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202 /* Start the timer that generates the tick ISR. Interrupts are disabled
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204 prvSetupTimerInterrupt();
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206 /* Initialise the critical nesting count ready for the first task. */
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207 uxCriticalNesting = 0;
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209 /* Start the first task. */
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210 vPortStartFirstTask();
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212 /* Should not get here! */
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215 /*-----------------------------------------------------------*/
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217 void vPortEndScheduler( void )
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219 /* It is unlikely that the CM0 port will require this function as there
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220 is nothing to return to. */
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222 /*-----------------------------------------------------------*/
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224 void vPortYield( void )
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226 /* Set a PendSV to request a context switch. */
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227 *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
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229 /* Barriers are normally not required but do ensure the code is completely
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230 within the specified behaviour for the architecture. */
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231 __asm volatile( "dsb" );
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232 __asm volatile( "isb" );
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234 /*-----------------------------------------------------------*/
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236 void vPortEnterCritical( void )
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238 portDISABLE_INTERRUPTS();
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239 uxCriticalNesting++;
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240 __asm volatile( "dsb" );
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241 __asm volatile( "isb" );
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243 /*-----------------------------------------------------------*/
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245 void vPortExitCritical( void )
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247 uxCriticalNesting--;
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248 if( uxCriticalNesting == 0 )
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250 portENABLE_INTERRUPTS();
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253 /*-----------------------------------------------------------*/
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255 unsigned long ulSetInterruptMaskFromISR( void )
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258 " mrs r0, PRIMASK \n"
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263 /* To avoid compiler warnings. This line will never be reached. */
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266 /*-----------------------------------------------------------*/
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268 void vClearInterruptMaskFromISR( unsigned long ulMask )
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271 " msr PRIMASK, r0 \n"
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275 /* Just to avoid compiler warning. */
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278 /*-----------------------------------------------------------*/
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280 void xPortPendSVHandler( void )
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282 /* This is a naked function. */
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288 " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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291 " sub r0, r0, #32 \n" /* Make space for the remaining low registers. */
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292 " str r0, [r2] \n" /* Save the new top of stack. */
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293 " stmia r0!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */
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294 " mov r4, r8 \n" /* Store the high registers. */
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298 " stmia r0!, {r4-r7} \n"
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300 " push {r3, r14} \n"
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302 " bl vTaskSwitchContext \n"
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304 " pop {r2, r3} \n" /* lr goes in r3. r2 now holds tcb pointer. */
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307 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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308 " add r0, r0, #16 \n" /* Move to the high registers. */
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309 " ldmia r0!, {r4-r7} \n" /* Pop the high registers. */
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315 " msr psp, r0 \n" /* Remember the new top of stack for the task. */
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317 " sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
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318 " ldmia r0!, {r4-r7} \n" /* Pop low registers. */
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323 "pxCurrentTCBConst: .word pxCurrentTCB "
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326 /*-----------------------------------------------------------*/
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328 void xPortSysTickHandler( void )
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330 unsigned long ulPreviousMask;
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332 ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
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334 /* Increment the RTOS tick. */
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335 if( xTaskIncrementTick() != pdFALSE )
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337 /* Pend a context switch. */
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338 *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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341 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
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343 /*-----------------------------------------------------------*/
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346 * Setup the systick timer to generate the tick interrupts at the required
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349 void prvSetupTimerInterrupt( void )
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351 /* Configure SysTick to interrupt at the requested rate. */
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352 *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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353 *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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355 /*-----------------------------------------------------------*/
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