port.c

FreeRTOSV4.1.0 安裝文件 FreeRTOS 是一个源码公开的免费的嵌入式实时操作系统

/*
	FreeRTOS.org V4.1.0 - Copyright (C) 2003-2006 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS.org is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with FreeRTOS.org; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS.org, without being obliged to provide
	the source code for any proprietary components.  See the licensing section
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

	***************************************************************************
	See http://www.FreeRTOS.org for documentation, latest information, license
	and contact details.  Please ensure to read the configuration and relevant
	port sections of the online documentation.
	***************************************************************************
*/

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the Philips ARM7 port.
 *----------------------------------------------------------*/

/*
	Changes from V3.2.2

	+ Bug fix - The prescale value for the timer setup is now written to T0PR 
	  instead of T0PC.  This bug would have had no effect unless a prescale 
	  value was actually used.
*/

/* Standard includes. */
#include <stdlib.h>
#include <intrinsic.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Constants required to setup the tick ISR. */
#define portENABLE_TIMER			( ( unsigned portCHAR ) 0x01 )
#define portPRESCALE_VALUE			0x00
#define portINTERRUPT_ON_MATCH		( ( unsigned portLONG ) 0x01 )
#define portRESET_COUNT_ON_MATCH	( ( unsigned portLONG ) 0x02 )

/* Constants required to setup the initial stack. */
#define portINITIAL_SPSR				( ( portSTACK_TYPE ) 0x3f ) /* System mode, THUMB mode, interrupts enabled. */
#define portINSTRUCTION_SIZE			( ( portSTACK_TYPE ) 4 )

/* Constants required to setup the PIT. */
#define portPIT_CLOCK_DIVISOR			( ( unsigned portLONG ) 16 )
#define portPIT_COUNTER_VALUE			( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_RATE_MS )

/* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT		( ( unsigned portCHAR ) 0x01 )
#define portCLEAR_VIC_INTERRUPT		( ( unsigned portLONG ) 0 )

/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING 		( ( unsigned portLONG ) 0 )


#define portINT_LEVEL_SENSITIVE  0
#define portPIT_ENABLE      	( ( unsigned portSHORT ) 0x1 << 24 )
#define portPIT_INT_ENABLE     	( ( unsigned portSHORT ) 0x1 << 25 )

/* Constants required to setup the VIC for the tick ISR. */
#define portTIMER_VIC_CHANNEL		( ( unsigned portLONG ) 0x0004 )
#define portTIMER_VIC_CHANNEL_BIT	( ( unsigned portLONG ) 0x0010 )
#define portTIMER_VIC_ENABLE		( ( unsigned portLONG ) 0x0020 )

/*-----------------------------------------------------------*/

/* Setup the PIT to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );

/* ulCriticalNesting will get set to zero when the first task starts.  It
cannot be initialised to 0 as this will cause interrupts to be enabled
during the kernel initialisation process. */
unsigned portLONG ulCriticalNesting = ( unsigned portLONG ) 9999;

/*-----------------------------------------------------------*/

/*
 * Initialise the stack of a task to look exactly as if a call to
 * portSAVE_CONTEXT had been called.
 *
 * See header file for description.
 */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
portSTACK_TYPE *pxOriginalTOS;

	pxOriginalTOS = pxTopOfStack;

	/* Setup the initial stack of the task.  The stack is set exactly as
	expected by the portRESTORE_CONTEXT() macro. */

	/* First on the stack is the return address - which in this case is the
	start of the task.  The offset is added to make the return address appear
	as it would within an IRQ ISR. */
	*pxTopOfStack = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;		
	pxTopOfStack--;

	*pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa;	/* R14 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) 0x12121212;	/* R12 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;	/* R11 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x10101010;	/* R10 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x09090909;	/* R9 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x08080808;	/* R8 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x07070707;	/* R7 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x06060606;	/* R6 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x05050505;	/* R5 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x04040404;	/* R4 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x03030303;	/* R3 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x02020202;	/* R2 */
	pxTopOfStack--;	
	*pxTopOfStack = ( portSTACK_TYPE ) 0x01010101;	/* R1 */
	pxTopOfStack--;	

	/* When the task starts is will expect to find the function parameter in
	R0. */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
	pxTopOfStack--;

	/* The status register is set for system mode, with interrupts enabled. */
	*pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;
	pxTopOfStack--;

	/* Interrupt flags cannot always be stored on the stack and will
	instead be stored in a variable, which is then saved as part of the
	tasks context. */
	*pxTopOfStack = portNO_CRITICAL_NESTING;

	return pxTopOfStack;	
}
/*-----------------------------------------------------------*/

portBASE_TYPE xPortStartScheduler( void )
{
extern void vPortStartFirstTask( void );

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Start the first task. */
	vPortStartFirstTask();	

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* It is unlikely that the ARM port will require this function as there
	is nothing to return to.  */
}
/*-----------------------------------------------------------*/

#if configUSE_PREEMPTION == 0

	/* The cooperative scheduler requires a normal IRQ service routine to
	simply increment the system tick. */
	static __arm __irq void vPortNonPreemptiveTick( void );
	static __arm __irq void vPortNonPreemptiveTick( void )
	{
		/* Increment the tick count - which may wake some tasks but as the
		preemptive scheduler is not being used any woken task is not given
		processor time no matter what its priority. */
		vTaskIncrementTick();
		
		/* Ready for the next interrupt. */
		T0IR = portTIMER_MATCH_ISR_BIT;
		VICVectAddr = portCLEAR_VIC_INTERRUPT;
	}

#else

	/* This function is called from an asm wrapper, so does not require the __irq
	keyword. */
	void vPortPreemptiveTick( void );
	void vPortPreemptiveTick( void )
	{
		/* Increment the tick counter. */
		vTaskIncrementTick();
	
		/* The new tick value might unblock a task.  Ensure the highest task that
		is ready to execute is the task that will execute when the tick ISR
		exits. */
		vTaskSwitchContext();
	
		/* Ready for the next interrupt. */
		T0IR = portTIMER_MATCH_ISR_BIT;
		VICVectAddr = portCLEAR_VIC_INTERRUPT;
	}

#endif

/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt( void )
{
unsigned portLONG ulCompareMatch;

	/* A 1ms tick does not require the use of the timer prescale.  This is
	defaulted to zero but can be used if necessary. */
	T0PR = portPRESCALE_VALUE;

	/* Calculate the match value required for our wanted tick rate. */
	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;

	/* Protect against divide by zero.  Using an if() statement still results
	in a warning - hence the #if. */
	#if portPRESCALE_VALUE != 0
	{
		ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
	}
	#endif

	T0MR0 = ulCompareMatch;

	/* Generate tick with timer 0 compare match. */
	T0MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH;

	/* Setup the VIC for the timer. */
	VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT );
	VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
	
	/* The ISR installed depends on whether the preemptive or cooperative
	scheduler is being used. */
	#if configUSE_PREEMPTION == 1
	{	
		extern void ( vPortPreemptiveTickEntry )( void );

		VICVectAddr0 = ( unsigned portLONG ) vPortPreemptiveTickEntry;
	}
	#else
	{
		extern void ( vNonPreemptiveTick )( void );

		VICVectAddr0 = ( portLONG ) vPortNonPreemptiveTick;
	}
	#endif

	VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE;

	/* Start the timer - interrupts are disabled when this function is called
	so it is okay to do this here. */
	T0TCR = portENABLE_TIMER;
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
	/* Disable interrupts first! */
	__disable_interrupt();

	/* Now interrupts are disabled ulCriticalNesting can be accessed
	directly.  Increment ulCriticalNesting to keep a count of how many times
	portENTER_CRITICAL() has been called. */
	ulCriticalNesting++;
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
	{
		/* Decrement the nesting count as we are leaving a critical section. */
		ulCriticalNesting--;

		/* If the nesting level has reached zero then interrupts should be
		re-enabled. */
		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
		{
			__enable_interrupt();
		}
	}
}
/*-----------------------------------------------------------*/