2 FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 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 * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
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31 * This is a concise, step by step, 'hands on' guide that describes both *
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32 * general multitasking concepts and FreeRTOS specifics. It presents and *
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33 * explains numerous examples that are written using the FreeRTOS API. *
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34 * Full source code for all the examples is provided in an accompanying *
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37 ***************************************************************************
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38 ***************************************************************************
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40 Please ensure to read the configuration and relevant port sections of the
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41 online documentation.
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43 http://www.FreeRTOS.org - Documentation, latest information, license and
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46 http://www.SafeRTOS.com - A version that is certified for use in safety
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49 http://www.OpenRTOS.com - Commercial support, development, porting,
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50 licensing and training services.
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53 /*-----------------------------------------------------------
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54 * Implementation of functions defined in portable.h for the PPC405 port.
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55 *----------------------------------------------------------*/
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58 /* Scheduler includes. */
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59 #include "FreeRTOS.h"
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62 /* Library includes. */
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63 #include "xtime_l.h"
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65 #include "xintc_i.h"
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67 /*-----------------------------------------------------------*/
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69 /* Definitions to set the initial MSR of each task. */
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70 #define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
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71 #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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72 #define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
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74 #if configUSE_FPU == 1
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75 #define portAPU_PRESENT ( 1UL << 25UL )
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76 #define portFCM_FPU_PRESENT ( 1UL << 13UL )
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78 #define portAPU_PRESENT ( 0UL )
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79 #define portFCM_FPU_PRESENT ( 0UL )
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82 #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT )
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84 /*-----------------------------------------------------------*/
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87 * Setup the system timer to generate the tick interrupt.
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89 static void prvSetupTimerInterrupt( void );
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92 * The handler for the tick interrupt - defined in portasm.s.
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94 extern void vPortTickISR( void );
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97 * The handler for the yield function - defined in portasm.s.
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99 extern void vPortYield( void );
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102 * Function to start the scheduler running by starting the highest
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103 * priority task that has thus far been created.
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105 extern void vPortStartFirstTask( void );
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107 /*-----------------------------------------------------------*/
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109 /* Structure used to hold the state of the interrupt controller. */
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110 static XIntc xInterruptController;
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112 /*-----------------------------------------------------------*/
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115 * Initialise the stack of a task to look exactly as if the task had been
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118 * See the header file portable.h.
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120 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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122 /* Place a known value at the bottom of the stack for debugging. */
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123 *pxTopOfStack = 0xDEADBEEF;
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126 /* EABI stack frame. */
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127 pxTopOfStack -= 30; /* Previous backchain and LR, R31 to R4 inclusive. */
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129 /* Parameters in R3. */
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130 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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132 *pxTopOfStack = 0x02020202UL; /* R2. */
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135 /* R1 is the stack pointer so is omitted. */
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137 *pxTopOfStack = 0x10000001UL;; /* R0. */
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139 *pxTopOfStack = 0x00000000UL; /* USPRG0. */
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141 *pxTopOfStack = 0x00000000UL; /* CR. */
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143 *pxTopOfStack = 0x00000000UL; /* XER. */
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145 *pxTopOfStack = 0x00000000UL; /* CTR. */
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147 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
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149 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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151 *pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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153 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
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155 *pxTopOfStack = 0x00000000UL;/* Backchain. */
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157 return pxTopOfStack;
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159 /*-----------------------------------------------------------*/
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161 portBASE_TYPE xPortStartScheduler( void )
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163 prvSetupTimerInterrupt();
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164 XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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165 vPortStartFirstTask();
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167 /* Should not get here as the tasks are now running! */
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170 /*-----------------------------------------------------------*/
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172 void vPortEndScheduler( void )
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174 /* Not implemented. */
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177 /*-----------------------------------------------------------*/
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180 * Hardware initialisation to generate the RTOS tick.
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182 static void prvSetupTimerInterrupt( void )
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184 const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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186 XTime_PITClearInterrupt();
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187 XTime_FITClearInterrupt();
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188 XTime_WDTClearInterrupt();
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189 XTime_WDTDisableInterrupt();
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190 XTime_FITDisableInterrupt();
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192 XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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194 XTime_PITEnableAutoReload();
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195 XTime_PITSetInterval( ulInterval );
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196 XTime_PITEnableInterrupt();
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198 /*-----------------------------------------------------------*/
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200 void vPortISRHandler( void *pvNullDoNotUse )
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202 unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
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203 portBASE_TYPE xInterruptNumber;
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204 XIntc_Config *pxInterruptController;
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205 XIntc_VectorTableEntry *pxTable;
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207 /* Just to remove compiler warning. */
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208 ( void ) pvNullDoNotUse;
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210 /* Get the configuration by using the device ID - in this case it is
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211 assumed that only one interrupt controller is being used. */
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212 pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
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214 /* Which interrupts are pending? */
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215 ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
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217 for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
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219 if( ulInterruptStatus & 0x01UL )
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221 /* Clear the pending interrupt. */
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222 XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
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224 /* Call the registered handler. */
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225 pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
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226 pxTable->Handler( pxTable->CallBackRef );
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229 /* Check the next interrupt. */
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230 ulInterruptMask <<= 0x01UL;
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231 ulInterruptStatus >>= 0x01UL;
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233 /* Have we serviced all interrupts? */
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234 if( ulInterruptStatus == 0UL )
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240 /*-----------------------------------------------------------*/
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242 void vPortSetupInterruptController( void )
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244 extern void vPortISRWrapper( void );
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246 /* Perform all library calls necessary to initialise the exception table
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247 and interrupt controller. This assumes only one interrupt controller is in
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249 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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252 /* The library functions save the context - we then jump to a wrapper to
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253 save the stack into the TCB. The wrapper then calls the handler defined
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255 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
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256 XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
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257 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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259 /*-----------------------------------------------------------*/
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261 portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
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263 portBASE_TYPE xReturn = pdFAIL;
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265 /* This function is defined here so the scope of xInterruptController can
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266 remain within this file. */
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268 if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
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270 XIntc_Enable( &xInterruptController, ucInterruptID );
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