2 FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
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37 Please ensure to read the configuration and relevant port sections of the
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50 /*-----------------------------------------------------------
51 * Implementation of functions defined in portable.h for the PPC405 port.
52 *----------------------------------------------------------*/
55 /* Scheduler includes. */
59 /* Library includes. */
64 /*-----------------------------------------------------------*/
66 /* Definitions to set the initial MSR of each task. */
67 #define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
68 #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
69 #define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
71 #if configUSE_FPU == 1
72 #define portAPU_PRESENT ( 1UL << 25UL )
73 #define portFCM_FPU_PRESENT ( 1UL << 13UL )
75 #define portAPU_PRESENT ( 0UL )
76 #define portFCM_FPU_PRESENT ( 0UL )
79 #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT )
81 /*-----------------------------------------------------------*/
84 * Setup the system timer to generate the tick interrupt.
86 static void prvSetupTimerInterrupt( void );
89 * The handler for the tick interrupt - defined in portasm.s.
91 extern void vPortTickISR( void );
94 * The handler for the yield function - defined in portasm.s.
96 extern void vPortYield( void );
99 * Function to start the scheduler running by starting the highest
100 * priority task that has thus far been created.
102 extern void vPortStartFirstTask( void );
104 /*-----------------------------------------------------------*/
106 /* Structure used to hold the state of the interrupt controller. */
107 static XIntc xInterruptController;
109 /*-----------------------------------------------------------*/
112 * Initialise the stack of a task to look exactly as if the task had been
115 * See the header file portable.h.
117 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
119 /* Place a known value at the bottom of the stack for debugging. */
120 *pxTopOfStack = 0xDEADBEEF;
123 /* EABI stack frame. */
124 pxTopOfStack -= 30; /* Previous backchain and LR, R31 to R4 inclusive. */
126 /* Parameters in R3. */
127 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
129 *pxTopOfStack = 0x02020202UL; /* R2. */
132 /* R1 is the stack pointer so is omitted. */
134 *pxTopOfStack = 0x10000001UL;; /* R0. */
136 *pxTopOfStack = 0x00000000UL; /* USPRG0. */
138 *pxTopOfStack = 0x00000000UL; /* CR. */
140 *pxTopOfStack = 0x00000000UL; /* XER. */
142 *pxTopOfStack = 0x00000000UL; /* CTR. */
144 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
146 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
148 *pxTopOfStack = portINITIAL_MSR;/* SRR1. */
150 *pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
152 *pxTopOfStack = 0x00000000UL;/* Backchain. */
156 /*-----------------------------------------------------------*/
158 portBASE_TYPE xPortStartScheduler( void )
160 prvSetupTimerInterrupt();
161 XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
162 vPortStartFirstTask();
164 /* Should not get here as the tasks are now running! */
167 /*-----------------------------------------------------------*/
169 void vPortEndScheduler( void )
171 /* Not implemented. */
174 /*-----------------------------------------------------------*/
177 * Hardware initialisation to generate the RTOS tick.
179 static void prvSetupTimerInterrupt( void )
181 const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
183 XTime_PITClearInterrupt();
184 XTime_FITClearInterrupt();
185 XTime_WDTClearInterrupt();
186 XTime_WDTDisableInterrupt();
187 XTime_FITDisableInterrupt();
189 XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
191 XTime_PITEnableAutoReload();
192 XTime_PITSetInterval( ulInterval );
193 XTime_PITEnableInterrupt();
195 /*-----------------------------------------------------------*/
197 void vPortISRHandler( void *pvNullDoNotUse )
199 unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
200 portBASE_TYPE xInterruptNumber;
201 XIntc_Config *pxInterruptController;
202 XIntc_VectorTableEntry *pxTable;
204 /* Just to remove compiler warning. */
205 ( void ) pvNullDoNotUse;
\r
207 /* Get the configuration by using the device ID - in this case it is
208 assumed that only one interrupt controller is being used. */
209 pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
211 /* Which interrupts are pending? */
212 ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
214 for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
216 if( ulInterruptStatus & 0x01UL )
218 /* Clear the pending interrupt. */
219 XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
221 /* Call the registered handler. */
222 pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
223 pxTable->Handler( pxTable->CallBackRef );
226 /* Check the next interrupt. */
227 ulInterruptMask <<= 0x01UL;
228 ulInterruptStatus >>= 0x01UL;
230 /* Have we serviced all interrupts? */
231 if( ulInterruptStatus == 0UL )
237 /*-----------------------------------------------------------*/
239 void vPortSetupInterruptController( void )
241 extern void vPortISRWrapper( void );
243 /* Perform all library calls necessary to initialise the exception table
244 and interrupt controller. This assumes only one interrupt controller is in
246 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
249 /* The library functions save the context - we then jump to a wrapper to
250 save the stack into the TCB. The wrapper then calls the handler defined
252 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
253 XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
254 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
256 /*-----------------------------------------------------------*/
258 portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
260 portBASE_TYPE xReturn = pdFAIL;
262 /* This function is defined here so the scope of xInterruptController can
263 remain within this file. */
265 if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
267 XIntc_Enable( &xInterruptController, ucInterruptID );