/*
* FreeRTOS Kernel V10 .4 .1
* Copyright ( C ) 2020 Synopsys , Inc . or its affiliates . All Rights Reserved .
*
* Permission is hereby granted , free of charge , to any person obtaining a copy of
* this software and associated documentation files ( the " Software " ) , to deal in
* the Software without restriction , including without limitation the rights to
* use , copy , modify , merge , publish , distribute , sublicense , and / or sell copies of
* the Software , and to permit persons to whom the Software is furnished to do so ,
* subject to the following conditions :
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software .
*
* THE SOFTWARE IS PROVIDED " AS IS " , WITHOUT WARRANTY OF ANY KIND , EXPRESS OR
* IMPLIED , INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY , FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT . IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM , DAMAGES OR OTHER LIABILITY , WHETHER
* IN AN ACTION OF CONTRACT , TORT OR OTHERWISE , ARISING FROM , OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE .
*
* http : //www.FreeRTOS.org
* http : //aws.amazon.com/freertos
*
* 1 tab = = 4 spaces !
*/
/*
* Implementation of functions defined in portable . h
*/
# include "FreeRTOS.h"
# include "task.h"
# include "FreeRTOSConfig.h"
# include "arc/arc_exception.h"
# include "arc/arc_timer.h"
# include "board.h"
# include "arc_freertos_exceptions.h"
volatile unsigned int ulCriticalNesting = 999UL ;
volatile unsigned int context_switch_reqflg ; /* task context switch request flag in exceptions and interrupts handling */
/**
* \ var exc_nest_count
* \ brief the counter for exc / int processing , = 0 no int / exc
* > 1 in int / exc processing
* @ }
*/
uint32_t exc_nest_count ;
/* --------------------------------------------------------------------------*/
/**
* @ brief kernel tick interrupt handler of freertos
*/
/* ----------------------------------------------------------------------------*/
static void vKernelTick ( void * ptr )
{
/* clear timer interrupt */
arc_timer_int_clear ( BOARD_OS_TIMER_ID ) ;
board_timer_update ( configTICK_RATE_HZ ) ;
if ( xTaskIncrementTick ( ) )
{
portYIELD_FROM_ISR ( ) ; /* need to make task switch */
}
}
/* --------------------------------------------------------------------------*/
/**
* @ brief setup freertos kernel tick
*/
/* ----------------------------------------------------------------------------*/
static void prvSetupTimerInterrupt ( void )
{
unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ ;
int_disable ( BOARD_OS_TIMER_INTNO ) ; /* disable os timer interrupt */
arc_timer_stop ( BOARD_OS_TIMER_ID ) ;
arc_timer_start ( BOARD_OS_TIMER_ID , TIMER_CTRL_IE | TIMER_CTRL_NH , cyc ) ;
int_handler_install ( BOARD_OS_TIMER_INTNO , ( INT_HANDLER_T ) vKernelTick ) ;
int_pri_set ( BOARD_OS_TIMER_INTNO , INT_PRI_MIN ) ;
int_enable ( BOARD_OS_TIMER_INTNO ) ;
}
/*
* Setup the stack of a new task so it is ready to be placed under the
* scheduler control . The registers have to be placed on the stack in
* the order that the port expects to find them .
*
* For ARC , task context switch is implemented with the help of SWI exception
* It ' s not efficient but simple .
*
*/
StackType_t * pxPortInitialiseStack ( StackType_t * pxTopOfStack ,
TaskFunction_t pxCode ,
void * pvParameters )
{
/* To ensure asserts in tasks.c don't fail, although in this case the assert
* is not really required . */
pxTopOfStack - - ;
/* Setup the initial stack of the task. The stack is set exactly as
* expected by the portRESTORE_CONTEXT ( ) macro . */
/* When the task starts is will expect to find the function parameter in
* R0 . */
* pxTopOfStack = ( StackType_t ) pvParameters ; /* R0 */
pxTopOfStack - - ;
* pxTopOfStack = ( StackType_t ) pxCode ; /* function body */
/* PC */
pxTopOfStack - - ;
* pxTopOfStack = ( StackType_t ) start_r ; /* dispatch return address */
pxTopOfStack - - ;
* pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING ;
return pxTopOfStack ;
}
/* --------------------------------------------------------------------------*/
/**
* @ brief start the freertos scheduler , go to the first task
*
* @ returns
*/
/* ----------------------------------------------------------------------------*/
BaseType_t xPortStartScheduler ( void )
{
/* Start the timer that generates the tick ISR. */
prvSetupTimerInterrupt ( ) ;
start_dispatch ( ) ;
/* Should not get here! */
return 0 ;
}
/* --------------------------------------------------------------------------*/
/**
* @ brief
*/
/* ----------------------------------------------------------------------------*/
void vPortEndScheduler ( void )
{
}
/* --------------------------------------------------------------------------*/
/**
* @ brief generate a task switch request in ISR
*/
/* ----------------------------------------------------------------------------*/
void vPortYieldFromIsr ( void )
{
unsigned int status32 ;
status32 = cpu_lock_save ( ) ;
context_switch_reqflg = true ;
cpu_unlock_restore ( status32 ) ;
}
/* --------------------------------------------------------------------------*/
/**
* @ brief
*/
/* ----------------------------------------------------------------------------*/
void vPortYield ( void )
{
unsigned int status32 ;
status32 = cpu_lock_save ( ) ;
dispatch ( ) ;
cpu_unlock_restore ( status32 ) ;
}
/* --------------------------------------------------------------------------*/
/**
* @ brief
*/
/* ----------------------------------------------------------------------------*/
void vPortEndTask ( void )
{
# if ( INCLUDE_vTaskDelete == 1 )
vTaskDelete ( NULL ) ; /* Delete task itself */
# endif
while ( 1 ) /* Yield to other task */
{
vPortYield ( ) ;
}
}
# if ARC_FEATURE_STACK_CHECK
/*
* ! ! ! Note ! ! !
* This a trick ! ! !
* It ' s a copy from task . c . We need to konw the definition of TCB for the purpose of hardware
* stack check . Pls don ' t forget to update it when FreeRTOS is updated .
*/
typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
volatile StackType_t * pxTopOfStack ; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
# if ( portUSING_MPU_WRAPPERS == 1 )
xMPU_SETTINGS xMPUSettings ; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
# endif
ListItem_t xStateListItem ; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
ListItem_t xEventListItem ; /*< Used to reference a task from an event list. */
UBaseType_t uxPriority ; /*< The priority of the task. 0 is the lowest priority. */
StackType_t * pxStack ; /*< Points to the start of the stack. */
char pcTaskName [ configMAX_TASK_NAME_LEN ] ; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
# if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
StackType_t * pxEndOfStack ; /*< Points to the highest valid address for the stack. */
# endif
# if ( portCRITICAL_NESTING_IN_TCB == 1 )
UBaseType_t uxCriticalNesting ; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
# endif
# if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxTCBNumber ; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
UBaseType_t uxTaskNumber ; /*< Stores a number specifically for use by third party trace code. */
# endif
# if ( configUSE_MUTEXES == 1 )
UBaseType_t uxBasePriority ; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
UBaseType_t uxMutexesHeld ;
# endif
# if ( configUSE_APPLICATION_TASK_TAG == 1 )
TaskHookFunction_t pxTaskTag ;
# endif
# if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
void * pvThreadLocalStoragePointers [ configNUM_THREAD_LOCAL_STORAGE_POINTERS ] ;
# endif
# if ( configGENERATE_RUN_TIME_STATS == 1 )
uint32_t ulRunTimeCounter ; /*< Stores the amount of time the task has spent in the Running state. */
# endif
# if ( configUSE_NEWLIB_REENTRANT == 1 )
/* Allocate a Newlib reent structure that is specific to this task.
* Note Newlib support has been included by popular demand , but is not
* used by the FreeRTOS maintainers themselves . FreeRTOS is not
* responsible for resulting newlib operation . User must be familiar with
* newlib and must provide system - wide implementations of the necessary
* stubs . Be warned that ( at the time of writing ) the current newlib design
* implements a system - wide malloc ( ) that must be provided with locks . */
struct _reent xNewLib_reent ;
# endif
# if ( configUSE_TASK_NOTIFICATIONS == 1 )
volatile uint32_t ulNotifiedValue ;
volatile uint8_t ucNotifyState ;
# endif
/* See the comments above the definition of
* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE . */
# if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
uint8_t ucStaticallyAllocated ; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
# endif
# if ( INCLUDE_xTaskAbortDelay == 1 )
uint8_t ucDelayAborted ;
# endif
# if ( configUSE_POSIX_ERRNO == 1 )
int iTaskErrno ;
# endif
} tskTCB ;
void vPortSetStackCheck ( TaskHandle_t old ,
TaskHandle_t new )
{
if ( new ! = NULL )
{
arc_aux_write ( AUX_USTACK_BASE , ( uint32_t ) ( new - > pxEndOfStack ) ) ;
arc_aux_write ( AUX_USTACK_TOP , ( uint32_t ) ( new - > pxStack ) ) ;
}
}
# endif /* if ARC_FEATURE_STACK_CHECK */
