git.sur5r.net Git - freertos/blob - FreeRTOS/Source/portable/GCC/STR75x/portISR.c

   1 /*\r
   2     FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
   3     All rights reserved\r
   4 \r
   5     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
   6 \r
   7     This file is part of the FreeRTOS distribution.\r
   8 \r
   9     FreeRTOS is free software; you can redistribute it and/or modify it under\r
  10     the terms of the GNU General Public License (version 2) as published by the\r
  11     Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
  12 \r
  13     >>!   NOTE: The modification to the GPL is included to allow you to     !<<\r
  14     >>!   distribute a combined work that includes FreeRTOS without being   !<<\r
  15     >>!   obliged to provide the source code for proprietary components     !<<\r
  16     >>!   outside of the FreeRTOS kernel.                                   !<<\r
  17 \r
  18     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
  19     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
  20     FOR A PARTICULAR PURPOSE.  Full license text is available on the following\r
  21     link: http://www.freertos.org/a00114.html\r
  22 \r
  23     1 tab == 4 spaces!\r
  24 \r
  25     ***************************************************************************\r
  26      *                                                                       *\r
  27      *    Having a problem?  Start by reading the FAQ "My application does   *\r
  28      *    not run, what could be wrong?".  Have you defined configASSERT()?  *\r
  29      *                                                                       *\r
  30      *    http://www.FreeRTOS.org/FAQHelp.html                               *\r
  31      *                                                                       *\r
  32     ***************************************************************************\r
  33 \r
  34     ***************************************************************************\r
  35      *                                                                       *\r
  36      *    FreeRTOS provides completely free yet professionally developed,    *\r
  37      *    robust, strictly quality controlled, supported, and cross          *\r
  38      *    platform software that is more than just the market leader, it     *\r
  39      *    is the industry's de facto standard.                               *\r
  40      *                                                                       *\r
  41      *    Help yourself get started quickly while simultaneously helping     *\r
  42      *    to support the FreeRTOS project by purchasing a FreeRTOS           *\r
  43      *    tutorial book, reference manual, or both:                          *\r
  44      *    http://www.FreeRTOS.org/Documentation                              *\r
  45      *                                                                       *\r
  46     ***************************************************************************\r
  47 \r
  48     ***************************************************************************\r
  49      *                                                                       *\r
  50      *   Investing in training allows your team to be as productive as       *\r
  51      *   possible as early as possible, lowering your overall development    *\r
  52      *   cost, and enabling you to bring a more robust product to market     *\r
  53      *   earlier than would otherwise be possible.  Richard Barry is both    *\r
  54      *   the architect and key author of FreeRTOS, and so also the world's   *\r
  55      *   leading authority on what is the world's most popular real time     *\r
  56      *   kernel for deeply embedded MCU designs.  Obtaining your training    *\r
  57      *   from Richard ensures your team will gain directly from his in-depth *\r
  58      *   product knowledge and years of usage experience.  Contact Real Time *\r
  59      *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *\r
  60      *   by Richard Barry:  http://www.FreeRTOS.org/contact\r
  61      *                                                                       *\r
  62     ***************************************************************************\r
  63 \r
  64     ***************************************************************************\r
  65      *                                                                       *\r
  66      *    You are receiving this top quality software for free.  Please play *\r
  67      *    fair and reciprocate by reporting any suspected issues and         *\r
  68      *    participating in the community forum:                              *\r
  69      *    http://www.FreeRTOS.org/support                                    *\r
  70      *                                                                       *\r
  71      *    Thank you!                                                         *\r
  72      *                                                                       *\r
  73     ***************************************************************************\r
  74 \r
  75     http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
  76     license and Real Time Engineers Ltd. contact details.\r
  77 \r
  78     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
  79     including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
  80     compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
  81 \r
  82     http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
  83     Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
  84 \r
  85     http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
  86     Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS\r
  87     licenses offer ticketed support, indemnification and commercial middleware.\r
  88 \r
  89     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
  90     engineered and independently SIL3 certified version for use in safety and\r
  91     mission critical applications that require provable dependability.\r
  92 \r
  93     1 tab == 4 spaces!\r
  94 */\r
  95 \r
  96 \r
  97 /*-----------------------------------------------------------\r
  98  * Components that can be compiled to either ARM or THUMB mode are\r
  99  * contained in port.c  The ISR routines, which can only be compiled\r
 100  * to ARM mode, are contained in this file.\r
 101  *----------------------------------------------------------*/\r
 102 \r
 103 /*\r
 104 */\r
 105 \r
 106 /* Scheduler includes. */\r
 107 #include "FreeRTOS.h"\r
 108 #include "task.h"\r
 109 \r
 110 /* Constants required to handle critical sections. */\r
 111 #define portNO_CRITICAL_NESTING         ( ( uint32_t ) 0 )\r
 112 \r
 113 volatile uint32_t ulCriticalNesting = 9999UL;\r
 114 \r
 115 /*-----------------------------------------------------------*/\r
 116 \r
 117 /* \r
 118  * The scheduler can only be started from ARM mode, hence the inclusion of this\r
 119  * function here.\r
 120  */\r
 121 void vPortISRStartFirstTask( void );\r
 122 /*-----------------------------------------------------------*/\r
 123 \r
 124 void vPortISRStartFirstTask( void )\r
 125 {\r
 126         /* Simply start the scheduler.  This is included here as it can only be\r
 127         called from ARM mode. */\r
 128         asm volatile (                                                                                                          \\r
 129         "LDR            R0, =pxCurrentTCB                                                               \n\t"   \\r
 130         "LDR            R0, [R0]                                                                                \n\t"   \\r
 131         "LDR            LR, [R0]                                                                                \n\t"   \\r
 132                                                                                                                                                 \\r
 133         /* The critical nesting depth is the first item on the stack. */        \\r
 134         /* Load it into the ulCriticalNesting variable. */                                      \\r
 135         "LDR            R0, =ulCriticalNesting                                                  \n\t"   \\r
 136         "LDMFD  LR!, {R1}                                                                                       \n\t"   \\r
 137         "STR            R1, [R0]                                                                                \n\t"   \\r
 138                                                                                                                                                 \\r
 139         /* Get the SPSR from the stack. */                                                                      \\r
 140         "LDMFD  LR!, {R0}                                                                                       \n\t"   \\r
 141         "MSR            SPSR, R0                                                                                \n\t"   \\r
 142                                                                                                                                                 \\r
 143         /* Restore all system mode registers for the task. */                           \\r
 144         "LDMFD  LR, {R0-R14}^                                                                           \n\t"   \\r
 145         "NOP                                                                                                            \n\t"   \\r
 146                                                                                                                                                 \\r
 147         /* Restore the return address. */                                                                       \\r
 148         "LDR            LR, [LR, #+60]                                                                  \n\t"   \\r
 149                                                                                                                                                 \\r
 150         /* And return - correcting the offset in the LR to obtain the */        \\r
 151         /* correct address. */                                                                                          \\r
 152         "SUBS PC, LR, #4                                                                                        \n\t"   \\r
 153         );                                                                                                                                      \r
 154 }\r
 155 /*-----------------------------------------------------------*/\r
 156 \r
 157 void vPortTickISR( void )\r
 158 {\r
 159         /* Increment the RTOS tick count, then look for the highest priority \r
 160         task that is ready to run. */\r
 161         if( xTaskIncrementTick() != pdFALSE )\r
 162         {       \r
 163                 vTaskSwitchContext();\r
 164         }\r
 165                         \r
 166         /* Ready for the next interrupt. */\r
 167         TB_ClearITPendingBit( TB_IT_Update );   \r
 168 }\r
 169 \r
 170 /*-----------------------------------------------------------*/\r
 171 \r
 172 /*\r
 173  * The interrupt management utilities can only be called from ARM mode.  When\r
 174  * THUMB_INTERWORK is defined the utilities are defined as functions here to\r
 175  * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then\r
 176  * the utilities are defined as macros in portmacro.h - as per other ports.\r
 177  */\r
 178 #ifdef THUMB_INTERWORK\r
 179 \r
 180         void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));\r
 181         void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));\r
 182 \r
 183         void vPortDisableInterruptsFromThumb( void )\r
 184         {\r
 185                 asm volatile ( \r
 186                         "STMDB  SP!, {R0}               \n\t"   /* Push R0.                                                                     */\r
 187                         "MRS    R0, CPSR                \n\t"   /* Get CPSR.                                                            */\r
 188                         "ORR    R0, R0, #0xC0   \n\t"   /* Disable IRQ, FIQ.                                            */\r
 189                         "MSR    CPSR, R0                \n\t"   /* Write back modified value.                           */\r
 190                         "LDMIA  SP!, {R0}               \n\t"   /* Pop R0.                                                                      */\r
 191                         "BX             R14" );                                 /* Return back to thumb.                                        */\r
 192         }\r
 193                         \r
 194         void vPortEnableInterruptsFromThumb( void )\r
 195         {\r
 196                 asm volatile ( \r
 197                         "STMDB  SP!, {R0}               \n\t"   /* Push R0.                                                                     */      \r
 198                         "MRS    R0, CPSR                \n\t"   /* Get CPSR.                                                            */      \r
 199                         "BIC    R0, R0, #0xC0   \n\t"   /* Enable IRQ, FIQ.                                                     */      \r
 200                         "MSR    CPSR, R0                \n\t"   /* Write back modified value.                           */      \r
 201                         "LDMIA  SP!, {R0}               \n\t"   /* Pop R0.                                                                      */\r
 202                         "BX             R14" );                                 /* Return back to thumb.                                        */\r
 203         }\r
 204 \r
 205 #endif /* THUMB_INTERWORK */\r
 206 /*-----------------------------------------------------------*/\r
 207 \r
 208 void vPortEnterCritical( void )\r
 209 {\r
 210         /* Disable interrupts as per portDISABLE_INTERRUPTS();                                                  */\r
 211         asm volatile ( \r
 212                 "STMDB  SP!, {R0}                       \n\t"   /* Push R0.                                                             */\r
 213                 "MRS    R0, CPSR                        \n\t"   /* Get CPSR.                                                    */\r
 214                 "ORR    R0, R0, #0xC0           \n\t"   /* Disable IRQ, FIQ.                                    */\r
 215                 "MSR    CPSR, R0                        \n\t"   /* Write back modified value.                   */\r
 216                 "LDMIA  SP!, {R0}" );                           /* Pop R0.                                                              */\r
 217 \r
 218         /* Now interrupts are disabled ulCriticalNesting can be accessed \r
 219         directly.  Increment ulCriticalNesting to keep a count of how many times\r
 220         portENTER_CRITICAL() has been called. */\r
 221         ulCriticalNesting++;\r
 222 }\r
 223 /*-----------------------------------------------------------*/\r
 224 \r
 225 void vPortExitCritical( void )\r
 226 {\r
 227         if( ulCriticalNesting > portNO_CRITICAL_NESTING )\r
 228         {\r
 229                 /* Decrement the nesting count as we are leaving a critical section. */\r
 230                 ulCriticalNesting--;\r
 231 \r
 232                 /* If the nesting level has reached zero then interrupts should be\r
 233                 re-enabled. */\r
 234                 if( ulCriticalNesting == portNO_CRITICAL_NESTING )\r
 235                 {\r
 236                         /* Enable interrupts as per portEXIT_CRITICAL().                                        */\r
 237                         asm volatile ( \r
 238                                 "STMDB  SP!, {R0}               \n\t"   /* Push R0.                                             */      \r
 239                                 "MRS    R0, CPSR                \n\t"   /* Get CPSR.                                    */      \r
 240                                 "BIC    R0, R0, #0xC0   \n\t"   /* Enable IRQ, FIQ.                             */      \r
 241                                 "MSR    CPSR, R0                \n\t"   /* Write back modified value.   */      \r
 242                                 "LDMIA  SP!, {R0}" );                   /* Pop R0.                                              */\r
 243                 }\r
 244         }\r
 245 }\r
 246 \r
 247 \r
 248 \r
 249 \r
 250 \r