FreeRTOS-Kernel/Source/portable/RVDS/ARM_CM3/port.c

/*
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*/

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM CM3 port.
 *----------------------------------------------------------*/

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

#ifndef configKERNEL_INTERRUPT_PRIORITY
	#define configKERNEL_INTERRUPT_PRIORITY 255
#endif

/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL		( ( volatile unsigned portLONG *) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD		( ( volatile unsigned portLONG *) 0xe000e014 )
#define portNVIC_INT_CTRL			( ( volatile unsigned portLONG *) 0xe000ed04 )
#define portNVIC_SYSPRI2			( ( volatile unsigned portLONG *) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK		0x00000004
#define portNVIC_SYSTICK_INT		0x00000002
#define portNVIC_SYSTICK_ENABLE		0x00000001
#define portNVIC_PENDSVSET			0x10000000
#define portNVIC_PENDSV_PRI			( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
#define portNVIC_SYSTICK_PRI		( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )

/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR			( 0x01000000 )

/* Each task maintains its own interrupt status in the critical nesting
variable. */
unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;

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

/*
 * Exception handlers.
 */
void xPortPendSVHandler( void );
void xPortSysTickHandler( void );
void vPortSVCHandler( void );

/*
 * Start first task is a separate function so it can be tested in isolation.
 */
void vPortStartFirstTask( unsigned long ulValue );

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

/* 
 * See header file for description. 
 */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
	/* Simulate the stack frame as it would be created by a context switch
	interrupt. */
	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
	pxTopOfStack--;
	*pxTopOfStack = 0;	/* LR */
	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
	pxTopOfStack -= 9;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
	*pxTopOfStack = 0x00000000; /* uxCriticalNesting. */

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

__asm void vPortSVCHandler( void )
{
	PRESERVE8

	ldr	r3, =pxCurrentTCB		/* Restore the context. */
	ldr r1, [r3]				/* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
	ldr r0, [r1]				/* The first item in pxCurrentTCB is the task top of stack. */
	ldmia r0!, {r1, r4-r11}		/* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
	ldr r2, =uxCriticalNesting	/* Restore the critical nesting count used by the task. */
	str r1, [r2]				
	msr psp, r0					/* Restore the task stack pointer. */
	mov r0, #0
	msr	basepri, r0
	orr r14, #0xd				
	bx r14						
}
/*-----------------------------------------------------------*/

__asm void vPortStartFirstTask( unsigned long ulValue )
{
	PRESERVE8

	msr msp, r0					/* Set the msp back to the start of the stack. */
	svc 0						/* System call to start first task. */
}
/*-----------------------------------------------------------*/

/* 
 * See header file for description. 
 */
portBASE_TYPE xPortStartScheduler( void )
{
	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();
	
	/* Start the first task. */
	vPortStartFirstTask( *((unsigned portLONG *) 0 ) );

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

void vPortEndScheduler( void )
{
	/* It is unlikely that the CM3 port will require this function as there
	is nothing to return to.  */
}
/*-----------------------------------------------------------*/

void vPortYieldFromISR( void )
{
	/* Set a PendSV to request a context switch. */
	*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;

	/* This function is also called in response to a Yield(), so we want
	the yield to occur immediately. */
	portENABLE_INTERRUPTS();
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
	portDISABLE_INTERRUPTS();
	uxCriticalNesting++;
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
	uxCriticalNesting--;
	if( uxCriticalNesting == 0 )
	{
		portENABLE_INTERRUPTS();
	}
}
/*-----------------------------------------------------------*/

__asm void xPortPendSVHandler( void )
{
	extern uxCriticalNesting;
	extern pxCurrentTCB;
	extern vTaskSwitchContext;

	PRESERVE8

	mrs r0, psp						 

	ldr	r3, =pxCurrentTCB		 	/* Get the location of the current TCB. */
	ldr	r2, [r3]						

	ldr r1, =uxCriticalNesting		/* Save the remaining registers and the critical nesting count onto the task stack. */
	ldr r1, [r1]					
	stmdb r0!, {r1,r4-r11}			
	str r0, [r2]					 /* Save the new top of stack into the first member of the TCB. */

	stmdb sp!, {r3, r14}			 
	bl vTaskSwitchContext			
	ldmia sp!, {r3, r14}			

	ldr r1, [r3]					 
	ldr r2, =uxCriticalNesting
	ldr r0, [r1]					 /* The first item in pxCurrentTCB is the task top of stack. */
	ldmia r0!, {r1, r4-r11}			 /* Pop the registers and the critical nesting count. */
	str r1, [r2]					 /* Save the new critical nesting value into ulCriticalNesting. */ 
	msr psp, r0						 
	orr r14, #0xd					

	cbnz r1, sv_disable_interrupts	 /* If the nesting count is greater than 0 we need to exit with interrupts masked. */
	bx r14

sv_disable_interrupts
	mov r1, #configKERNEL_INTERRUPT_PRIORITY
	msr	basepri, r1					
	bx r14							
}
/*-----------------------------------------------------------*/

void xPortSysTickHandler( void )
{
	vTaskIncrementTick();
	
	/* If using preemption, also force a context switch. */
	#if configUSE_PREEMPTION == 1
		*(portNVIC_INT_CTRL) |= portNVIC_PENDSVSET;	
	#endif
}
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
void prvSetupTimerInterrupt( void )
{
	/* Configure SysTick to interrupt at the requested rate. */
	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/

__asm void vPortSetInterruptMask( void )
{
	PRESERVE8

	push { r0 }
	mov r0, #configKERNEL_INTERRUPT_PRIORITY
	msr basepri, r0
	pop { r0 }
	bx r14
}

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

__asm void vPortClearInterruptMask( void )
{
	PRESERVE8

	push { r0 }
	mov r0, #0
	msr basepri, r0
	pop { r0 }
	bx r14
}