2 FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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30 * and even write all or part of your application on your behalf. *
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31 * See http://www.OpenRTOS.com for details of the services we provide to *
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32 * expedite your project. *
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34 ***************************************************************************
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35 ***************************************************************************
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37 Please ensure to read the configuration and relevant port sections of the
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38 online documentation.
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40 http://www.FreeRTOS.org - Documentation, latest information, license and
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43 http://www.SafeRTOS.com - A version that is certified for use in safety
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46 http://www.OpenRTOS.com - Commercial support, development, porting,
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47 licensing and training services.
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50 /*-----------------------------------------------------------
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51 * Implementation of functions defined in portable.h for the PPC405 port.
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52 *----------------------------------------------------------*/
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55 /* Scheduler includes. */
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56 #include "FreeRTOS.h"
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59 /* Library includes. */
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60 #include "xtime_l.h"
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62 #include "xintc_i.h"
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64 /*-----------------------------------------------------------*/
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66 /* Definitions to set the initial MSR of each task. */
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67 #define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
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68 #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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69 #define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
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71 #if configUSE_FPU == 1
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72 #define portAPU_PRESENT ( 1UL << 25UL )
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73 #define portFCM_FPU_PRESENT ( 1UL << 13UL )
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75 #define portAPU_PRESENT ( 0UL )
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76 #define portFCM_FPU_PRESENT ( 0UL )
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79 #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT )
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81 /*-----------------------------------------------------------*/
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84 * Setup the system timer to generate the tick interrupt.
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86 static void prvSetupTimerInterrupt( void );
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89 * The handler for the tick interrupt - defined in portasm.s.
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91 extern void vPortTickISR( void );
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94 * The handler for the yield function - defined in portasm.s.
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96 extern void vPortYield( void );
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99 * Function to start the scheduler running by starting the highest
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100 * priority task that has thus far been created.
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102 extern void vPortStartFirstTask( void );
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104 /*-----------------------------------------------------------*/
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106 /* Structure used to hold the state of the interrupt controller. */
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107 static XIntc xInterruptController;
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109 /*-----------------------------------------------------------*/
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112 * Initialise the stack of a task to look exactly as if the task had been
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115 * See the header file portable.h.
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117 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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119 /* Place a known value at the bottom of the stack for debugging. */
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120 *pxTopOfStack = 0xDEADBEEF;
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123 /* EABI stack frame. */
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124 pxTopOfStack -= 30; /* Previous backchain and LR, R31 to R4 inclusive. */
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126 /* Parameters in R3. */
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127 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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129 *pxTopOfStack = 0x02020202UL; /* R2. */
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132 /* R1 is the stack pointer so is omitted. */
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134 *pxTopOfStack = 0x10000001UL;; /* R0. */
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136 *pxTopOfStack = 0x00000000UL; /* USPRG0. */
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138 *pxTopOfStack = 0x00000000UL; /* CR. */
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140 *pxTopOfStack = 0x00000000UL; /* XER. */
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142 *pxTopOfStack = 0x00000000UL; /* CTR. */
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144 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
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146 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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148 *pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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150 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
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152 *pxTopOfStack = 0x00000000UL;/* Backchain. */
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154 return pxTopOfStack;
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156 /*-----------------------------------------------------------*/
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158 portBASE_TYPE xPortStartScheduler( void )
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160 prvSetupTimerInterrupt();
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161 XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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162 vPortStartFirstTask();
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164 /* Should not get here as the tasks are now running! */
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167 /*-----------------------------------------------------------*/
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169 void vPortEndScheduler( void )
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171 /* Not implemented. */
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174 /*-----------------------------------------------------------*/
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177 * Hardware initialisation to generate the RTOS tick.
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179 static void prvSetupTimerInterrupt( void )
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181 const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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183 XTime_PITClearInterrupt();
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184 XTime_FITClearInterrupt();
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185 XTime_WDTClearInterrupt();
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186 XTime_WDTDisableInterrupt();
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187 XTime_FITDisableInterrupt();
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189 XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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191 XTime_PITEnableAutoReload();
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192 XTime_PITSetInterval( ulInterval );
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193 XTime_PITEnableInterrupt();
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195 /*-----------------------------------------------------------*/
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197 void vPortISRHandler( void *pvNullDoNotUse )
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199 unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
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200 portBASE_TYPE xInterruptNumber;
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201 XIntc_Config *pxInterruptController;
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202 XIntc_VectorTableEntry *pxTable;
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204 /* Just to remove compiler warning. */
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205 ( void ) pvNullDoNotUse;
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207 /* Get the configuration by using the device ID - in this case it is
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208 assumed that only one interrupt controller is being used. */
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209 pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
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211 /* Which interrupts are pending? */
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212 ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
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214 for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
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216 if( ulInterruptStatus & 0x01UL )
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218 /* Clear the pending interrupt. */
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219 XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
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221 /* Call the registered handler. */
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222 pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
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223 pxTable->Handler( pxTable->CallBackRef );
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226 /* Check the next interrupt. */
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227 ulInterruptMask <<= 0x01UL;
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228 ulInterruptStatus >>= 0x01UL;
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230 /* Have we serviced all interrupts? */
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231 if( ulInterruptStatus == 0UL )
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237 /*-----------------------------------------------------------*/
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239 void vPortSetupInterruptController( void )
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241 extern void vPortISRWrapper( void );
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243 /* Perform all library calls necessary to initialise the exception table
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244 and interrupt controller. This assumes only one interrupt controller is in
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246 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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249 /* The library functions save the context - we then jump to a wrapper to
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250 save the stack into the TCB. The wrapper then calls the handler defined
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252 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
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253 XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
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254 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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256 /*-----------------------------------------------------------*/
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258 portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
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260 portBASE_TYPE xReturn = pdFAIL;
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262 /* This function is defined here so the scope of xInterruptController can
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263 remain within this file. */
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265 if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
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267 XIntc_Enable( &xInterruptController, ucInterruptID );
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