Add PPC440 port layer code.
Richard Barry
16 years ago
parent
0a9fddb5d4
commit
09f991277e
@ -0,0 +1,69 @@
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/*
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FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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|
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FreeRTOS.org is free software; you can redistribute it and/or modify it
|
||||||
|
under the terms of the GNU General Public License (version 2) as published
|
||||||
|
by the Free Software Foundation and modified by the FreeRTOS exception.
|
||||||
|
**NOTE** The exception to the GPL is included to allow you to distribute a
|
||||||
|
combined work that includes FreeRTOS.org without being obliged to provide
|
||||||
|
the source code for any proprietary components. Alternative commercial
|
||||||
|
license and support terms are also available upon request. See the
|
||||||
|
licensing section of http://www.FreeRTOS.org for full details.
|
||||||
|
|
||||||
|
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.
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|
|
||||||
|
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|
***************************************************************************
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|
* *
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||||||
|
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
||||||
|
* *
|
||||||
|
* This is a concise, step by step, 'hands on' guide that describes both *
|
||||||
|
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
||||||
|
* explains numerous examples that are written using the FreeRTOS API. *
|
||||||
|
* Full source code for all the examples is provided in an accompanying *
|
||||||
|
* .zip file. *
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|
* *
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||||||
|
***************************************************************************
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|
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1 tab == 4 spaces!
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||||||
|
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||||||
|
Please ensure to read the configuration and relevant port sections of the
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||||||
|
online documentation.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||||
|
contact details.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||||
|
critical systems.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||||
|
licensing and training services.
|
||||||
|
*/
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||||||
|
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/* When switching out a task, if the task tag contains a buffer address then
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save the flop context into the buffer. */
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#define traceTASK_SWITCHED_OUT() \
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if( pxCurrentTCB->pxTaskTag != NULL ) \
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{ \
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extern void vPortSaveFPURegisters( void * ); \
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vPortSaveFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \
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}
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/* When switching in a task, if the task tag contains a buffer address then
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load the flop context from the buffer. */
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#define traceTASK_SWITCHED_IN() \
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if( pxCurrentTCB->pxTaskTag != NULL ) \
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{ \
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extern void vPortRestoreFPURegisters( void * ); \
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vPortRestoreFPURegisters( ( void * ) ( pxCurrentTCB->pxTaskTag ) ); \
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}
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@ -0,0 +1,284 @@
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/*
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|
FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
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|
|
||||||
|
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 (version 2) as published
|
||||||
|
by the Free Software Foundation and modified by the FreeRTOS exception.
|
||||||
|
**NOTE** The exception to the GPL is included to allow you to distribute a
|
||||||
|
combined work that includes FreeRTOS.org without being obliged to provide
|
||||||
|
the source code for any proprietary components. Alternative commercial
|
||||||
|
license and support terms are also available upon request. See the
|
||||||
|
licensing section of http://www.FreeRTOS.org for full details.
|
||||||
|
|
||||||
|
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.
|
||||||
|
|
||||||
|
|
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|
***************************************************************************
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|
* *
|
||||||
|
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
||||||
|
* *
|
||||||
|
* This is a concise, step by step, 'hands on' guide that describes both *
|
||||||
|
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
||||||
|
* explains numerous examples that are written using the FreeRTOS API. *
|
||||||
|
* Full source code for all the examples is provided in an accompanying *
|
||||||
|
* .zip file. *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
Please ensure to read the configuration and relevant port sections of the
|
||||||
|
online documentation.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||||
|
contact details.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||||
|
critical systems.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||||
|
licensing and training services.
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||||||
|
*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the PPC440 port.
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*----------------------------------------------------------*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Library includes. */
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#include "xtime_l.h"
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#include "xintc.h"
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#include "xintc_i.h"
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/*-----------------------------------------------------------*/
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/* Definitions to set the initial MSR of each task. */
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#define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
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#define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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#define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
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#if configUSE_FPU == 1
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#define portAPU_PRESENT ( 1UL << 25UL )
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#define portFCM_FPU_PRESENT ( 1UL << 13UL )
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#else
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#define portAPU_PRESENT ( 0UL )
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#define portFCM_FPU_PRESENT ( 0UL )
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#endif
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#define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT )
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extern const unsigned _SDA_BASE_;
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extern const unsigned _SDA2_BASE_;
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/*-----------------------------------------------------------*/
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/*
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* Setup the system timer to generate the tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* The handler for the tick interrupt - defined in portasm.s.
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*/
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extern void vPortTickISR( void );
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/*
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* The handler for the yield function - defined in portasm.s.
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*/
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extern void vPortYield( void );
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/*
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* Function to start the scheduler running by starting the highest
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* priority task that has thus far been created.
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*/
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extern void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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/* Structure used to hold the state of the interrupt controller. */
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static XIntc xInterruptController;
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if the task had been
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* interrupted.
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*
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* See the header file portable.h.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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/* Place a known value at the bottom of the stack for debugging. */
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*pxTopOfStack = 0xDEADBEEF;
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pxTopOfStack--;
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/* EABI stack frame. */
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pxTopOfStack -= 20; /* Previous backchain and LR, R31 to R4 inclusive. */
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/* Parameters in R13. */
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*pxTopOfStack = ( portSTACK_TYPE ) &_SDA_BASE_; /* address of the first small data area */
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pxTopOfStack -= 10;
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/* Parameters in R3. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack--;
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/* Parameters in R2. */
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*pxTopOfStack = ( portSTACK_TYPE ) &_SDA2_BASE_; /* address of the second small data area */
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pxTopOfStack--;
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/* R1 is the stack pointer so is omitted. */
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*pxTopOfStack = 0x10000001UL;; /* R0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* USPRG0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* XER. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CTR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL;/* Backchain. */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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prvSetupTimerInterrupt();
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XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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vPortStartFirstTask();
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/* Should not get here as the tasks are now running! */
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/*
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* Hardware initialisation to generate the RTOS tick.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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XTime_DECClearInterrupt();
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XTime_FITClearInterrupt();
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XTime_WDTClearInterrupt();
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XTime_WDTDisableInterrupt();
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XTime_FITDisableInterrupt();
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XExc_RegisterHandler( XEXC_ID_DEC_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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XTime_DECEnableAutoReload();
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XTime_DECSetInterval( ulInterval );
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XTime_DECEnableInterrupt();
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}
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/*-----------------------------------------------------------*/
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void vPortISRHandler( void *pvNullDoNotUse )
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{
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unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
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portBASE_TYPE xInterruptNumber;
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XIntc_Config *pxInterruptController;
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XIntc_VectorTableEntry *pxTable;
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/* Just to remove compiler warning. */
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( void ) pvNullDoNotUse;
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/* Get the configuration by using the device ID - in this case it is
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assumed that only one interrupt controller is being used. */
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pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
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/* Which interrupts are pending? */
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ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
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for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
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{
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if( ulInterruptStatus & 0x01UL )
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{
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/* Clear the pending interrupt. */
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XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
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/* Call the registered handler. */
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pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
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pxTable->Handler( pxTable->CallBackRef );
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}
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/* Check the next interrupt. */
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ulInterruptMask <<= 0x01UL;
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ulInterruptStatus >>= 0x01UL;
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/* Have we serviced all interrupts? */
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if( ulInterruptStatus == 0UL )
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{
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break;
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}
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}
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}
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/*-----------------------------------------------------------*/
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void vPortSetupInterruptController( void )
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{
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extern void vPortISRWrapper( void );
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/* Perform all library calls necessary to initialise the exception table
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and interrupt controller. This assumes only one interrupt controller is in
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use. */
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XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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XExc_Init();
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/* The library functions save the context - we then jump to a wrapper to
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save the stack into the TCB. The wrapper then calls the handler defined
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above. */
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XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
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XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
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XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
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{
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portBASE_TYPE xReturn = pdFAIL;
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/* This function is defined here so the scope of xInterruptController can
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remain within this file. */
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if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
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{
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XIntc_Enable( &xInterruptController, ucInterruptID );
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xReturn = pdPASS;
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}
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return xReturn;
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}
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@ -0,0 +1,406 @@
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/*
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FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.
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|
|
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|
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 (version 2) as published
|
||||||
|
by the Free Software Foundation and modified by the FreeRTOS exception.
|
||||||
|
**NOTE** The exception to the GPL is included to allow you to distribute a
|
||||||
|
combined work that includes FreeRTOS.org without being obliged to provide
|
||||||
|
the source code for any proprietary components. Alternative commercial
|
||||||
|
license and support terms are also available upon request. See the
|
||||||
|
licensing section of http://www.FreeRTOS.org for full details.
|
||||||
|
|
||||||
|
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.
|
||||||
|
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
||||||
|
* *
|
||||||
|
* This is a concise, step by step, 'hands on' guide that describes both *
|
||||||
|
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
||||||
|
* explains numerous examples that are written using the FreeRTOS API. *
|
||||||
|
* Full source code for all the examples is provided in an accompanying *
|
||||||
|
* .zip file. *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
Please ensure to read the configuration and relevant port sections of the
|
||||||
|
online documentation.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||||
|
contact details.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||||
|
critical systems.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||||
|
licensing and training services.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
|
||||||
|
.extern pxCurrentTCB
|
||||||
|
.extern vTaskSwitchContext
|
||||||
|
.extern vTaskIncrementTick
|
||||||
|
.extern vPortISRHandler
|
||||||
|
|
||||||
|
.global vPortStartFirstTask
|
||||||
|
.global vPortYield
|
||||||
|
.global vPortTickISR
|
||||||
|
.global vPortISRWrapper
|
||||||
|
.global vPortSaveFPURegisters
|
||||||
|
.global vPortRestoreFPURegisters
|
||||||
|
|
||||||
|
.set BChainField, 0
|
||||||
|
.set NextLRField, BChainField + 4
|
||||||
|
.set MSRField, NextLRField + 4
|
||||||
|
.set PCField, MSRField + 4
|
||||||
|
.set LRField, PCField + 4
|
||||||
|
.set CTRField, LRField + 4
|
||||||
|
.set XERField, CTRField + 4
|
||||||
|
.set CRField, XERField + 4
|
||||||
|
.set USPRG0Field, CRField + 4
|
||||||
|
.set r0Field, USPRG0Field + 4
|
||||||
|
.set r2Field, r0Field + 4
|
||||||
|
.set r3r31Field, r2Field + 4
|
||||||
|
.set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
|
||||||
|
|
||||||
|
|
||||||
|
.macro portSAVE_STACK_POINTER_AND_LR
|
||||||
|
|
||||||
|
/* Get the address of the TCB. */
|
||||||
|
xor R0, R0, R0
|
||||||
|
addis R2, R0, pxCurrentTCB@ha
|
||||||
|
lwz R2, pxCurrentTCB@l( R2 )
|
||||||
|
|
||||||
|
/* Store the stack pointer into the TCB */
|
||||||
|
stw SP, 0( R2 )
|
||||||
|
|
||||||
|
/* Save the link register */
|
||||||
|
stwu R1, -24( R1 )
|
||||||
|
mflr R0
|
||||||
|
stw R31, 20( R1 )
|
||||||
|
stw R0, 28( R1 )
|
||||||
|
mr R31, r1
|
||||||
|
|
||||||
|
.endm
|
||||||
|
|
||||||
|
.macro portRESTORE_STACK_POINTER_AND_LR
|
||||||
|
|
||||||
|
/* Restore the link register */
|
||||||
|
lwz R11, 0( R1 )
|
||||||
|
lwz R0, 4( R11 )
|
||||||
|
mtlr R0
|
||||||
|
lwz R31, -4( R11 )
|
||||||
|
mr R1, R11
|
||||||
|
|
||||||
|
/* Get the address of the TCB. */
|
||||||
|
xor R0, R0, R0
|
||||||
|
addis SP, R0, pxCurrentTCB@ha
|
||||||
|
lwz SP, pxCurrentTCB@l( R1 )
|
||||||
|
|
||||||
|
/* Get the task stack pointer from the TCB. */
|
||||||
|
lwz SP, 0( SP )
|
||||||
|
|
||||||
|
.endm
|
||||||
|
|
||||||
|
|
||||||
|
vPortStartFirstTask:
|
||||||
|
|
||||||
|
/* Get the address of the TCB. */
|
||||||
|
xor R0, R0, R0
|
||||||
|
addis SP, R0, pxCurrentTCB@ha
|
||||||
|
lwz SP, pxCurrentTCB@l( SP )
|
||||||
|
|
||||||
|
/* Get the task stack pointer from the TCB. */
|
||||||
|
lwz SP, 0( SP )
|
||||||
|
|
||||||
|
/* Restore MSR register to SRR1. */
|
||||||
|
lwz R0, MSRField(R1)
|
||||||
|
mtsrr1 R0
|
||||||
|
|
||||||
|
/* Restore current PC location to SRR0. */
|
||||||
|
lwz R0, PCField(R1)
|
||||||
|
mtsrr0 R0
|
||||||
|
|
||||||
|
/* Save USPRG0 register */
|
||||||
|
lwz R0, USPRG0Field(R1)
|
||||||
|
mtspr 0x100,R0
|
||||||
|
|
||||||
|
/* Restore Condition register */
|
||||||
|
lwz R0, CRField(R1)
|
||||||
|
mtcr R0
|
||||||
|
|
||||||
|
/* Restore Fixed Point Exception register */
|
||||||
|
lwz R0, XERField(R1)
|
||||||
|
mtxer R0
|
||||||
|
|
||||||
|
/* Restore Counter register */
|
||||||
|
lwz R0, CTRField(R1)
|
||||||
|
mtctr R0
|
||||||
|
|
||||||
|
/* Restore Link register */
|
||||||
|
lwz R0, LRField(R1)
|
||||||
|
mtlr R0
|
||||||
|
|
||||||
|
/* Restore remaining GPR registers. */
|
||||||
|
lmw R3,r3r31Field(R1)
|
||||||
|
|
||||||
|
/* Restore r0 and r2. */
|
||||||
|
lwz R0, r0Field(R1)
|
||||||
|
lwz R2, r2Field(R1)
|
||||||
|
|
||||||
|
/* Remove frame from stack */
|
||||||
|
addi R1,R1,IFrameSize
|
||||||
|
|
||||||
|
/* Return into the first task */
|
||||||
|
rfi
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
vPortYield:
|
||||||
|
|
||||||
|
portSAVE_STACK_POINTER_AND_LR
|
||||||
|
bl vTaskSwitchContext
|
||||||
|
portRESTORE_STACK_POINTER_AND_LR
|
||||||
|
blr
|
||||||
|
|
||||||
|
vPortTickISR:
|
||||||
|
|
||||||
|
portSAVE_STACK_POINTER_AND_LR
|
||||||
|
bl vTaskIncrementTick
|
||||||
|
|
||||||
|
#if configUSE_PREEMPTION == 1
|
||||||
|
bl vTaskSwitchContext
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Clear the interrupt */
|
||||||
|
lis R0, 2048
|
||||||
|
mttsr R0
|
||||||
|
|
||||||
|
portRESTORE_STACK_POINTER_AND_LR
|
||||||
|
blr
|
||||||
|
|
||||||
|
vPortISRWrapper:
|
||||||
|
|
||||||
|
portSAVE_STACK_POINTER_AND_LR
|
||||||
|
bl vPortISRHandler
|
||||||
|
portRESTORE_STACK_POINTER_AND_LR
|
||||||
|
blr
|
||||||
|
|
||||||
|
#if configUSE_FPU == 1
|
||||||
|
|
||||||
|
vPortSaveFPURegisters:
|
||||||
|
|
||||||
|
/* Enable APU and mark FPU as present. */
|
||||||
|
mfmsr r0
|
||||||
|
xor r30, r30, r30
|
||||||
|
oris r30, r30, 512
|
||||||
|
ori r30, r30, 8192
|
||||||
|
or r0, r0, r30
|
||||||
|
mtmsr r0
|
||||||
|
|
||||||
|
#ifdef USE_DP_FPU
|
||||||
|
|
||||||
|
/* Buffer address is in r3. Save each flop register into an offset from
|
||||||
|
this buffer address. */
|
||||||
|
stfd f0, 0(r3)
|
||||||
|
stfd f1, 8(r3)
|
||||||
|
stfd f2, 16(r3)
|
||||||
|
stfd f3, 24(r3)
|
||||||
|
stfd f4, 32(r3)
|
||||||
|
stfd f5, 40(r3)
|
||||||
|
stfd f6, 48(r3)
|
||||||
|
stfd f7, 56(r3)
|
||||||
|
stfd f8, 64(r3)
|
||||||
|
stfd f9, 72(r3)
|
||||||
|
stfd f10, 80(r3)
|
||||||
|
stfd f11, 88(r3)
|
||||||
|
stfd f12, 96(r3)
|
||||||
|
stfd f13, 104(r3)
|
||||||
|
stfd f14, 112(r3)
|
||||||
|
stfd f15, 120(r3)
|
||||||
|
stfd f16, 128(r3)
|
||||||
|
stfd f17, 136(r3)
|
||||||
|
stfd f18, 144(r3)
|
||||||
|
stfd f19, 152(r3)
|
||||||
|
stfd f20, 160(r3)
|
||||||
|
stfd f21, 168(r3)
|
||||||
|
stfd f22, 176(r3)
|
||||||
|
stfd f23, 184(r3)
|
||||||
|
stfd f24, 192(r3)
|
||||||
|
stfd f25, 200(r3)
|
||||||
|
stfd f26, 208(r3)
|
||||||
|
stfd f27, 216(r3)
|
||||||
|
stfd f28, 224(r3)
|
||||||
|
stfd f29, 232(r3)
|
||||||
|
stfd f30, 240(r3)
|
||||||
|
stfd f31, 248(r3)
|
||||||
|
|
||||||
|
/* Also save the FPSCR. */
|
||||||
|
mffs f31
|
||||||
|
stfs f31, 256(r3)
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
/* Buffer address is in r3. Save each flop register into an offset from
|
||||||
|
this buffer address. */
|
||||||
|
stfs f0, 0(r3)
|
||||||
|
stfs f1, 4(r3)
|
||||||
|
stfs f2, 8(r3)
|
||||||
|
stfs f3, 12(r3)
|
||||||
|
stfs f4, 16(r3)
|
||||||
|
stfs f5, 20(r3)
|
||||||
|
stfs f6, 24(r3)
|
||||||
|
stfs f7, 28(r3)
|
||||||
|
stfs f8, 32(r3)
|
||||||
|
stfs f9, 36(r3)
|
||||||
|
stfs f10, 40(r3)
|
||||||
|
stfs f11, 44(r3)
|
||||||
|
stfs f12, 48(r3)
|
||||||
|
stfs f13, 52(r3)
|
||||||
|
stfs f14, 56(r3)
|
||||||
|
stfs f15, 60(r3)
|
||||||
|
stfs f16, 64(r3)
|
||||||
|
stfs f17, 68(r3)
|
||||||
|
stfs f18, 72(r3)
|
||||||
|
stfs f19, 76(r3)
|
||||||
|
stfs f20, 80(r3)
|
||||||
|
stfs f21, 84(r3)
|
||||||
|
stfs f22, 88(r3)
|
||||||
|
stfs f23, 92(r3)
|
||||||
|
stfs f24, 96(r3)
|
||||||
|
stfs f25, 100(r3)
|
||||||
|
stfs f26, 104(r3)
|
||||||
|
stfs f27, 108(r3)
|
||||||
|
stfs f28, 112(r3)
|
||||||
|
stfs f29, 116(r3)
|
||||||
|
stfs f30, 120(r3)
|
||||||
|
stfs f31, 124(r3)
|
||||||
|
|
||||||
|
/* Also save the FPSCR. */
|
||||||
|
mffs f31
|
||||||
|
stfs f31, 128(r3)
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
blr
|
||||||
|
|
||||||
|
#endif /* configUSE_FPU. */
|
||||||
|
|
||||||
|
|
||||||
|
#if configUSE_FPU == 1
|
||||||
|
|
||||||
|
vPortRestoreFPURegisters:
|
||||||
|
|
||||||
|
/* Enable APU and mark FPU as present. */
|
||||||
|
mfmsr r0
|
||||||
|
xor r30, r30, r30
|
||||||
|
oris r30, r30, 512
|
||||||
|
ori r30, r30, 8192
|
||||||
|
or r0, r0, r30
|
||||||
|
mtmsr r0
|
||||||
|
|
||||||
|
#ifdef USE_DP_FPU
|
||||||
|
|
||||||
|
/* Buffer address is in r3. Restore each flop register from an offset
|
||||||
|
into this buffer.
|
||||||
|
|
||||||
|
First the FPSCR. */
|
||||||
|
lfs f31, 256(r3)
|
||||||
|
mtfsf f31, 7
|
||||||
|
|
||||||
|
lfd f0, 0(r3)
|
||||||
|
lfd f1, 8(r3)
|
||||||
|
lfd f2, 16(r3)
|
||||||
|
lfd f3, 24(r3)
|
||||||
|
lfd f4, 32(r3)
|
||||||
|
lfd f5, 40(r3)
|
||||||
|
lfd f6, 48(r3)
|
||||||
|
lfd f7, 56(r3)
|
||||||
|
lfd f8, 64(r3)
|
||||||
|
lfd f9, 72(r3)
|
||||||
|
lfd f10, 80(r3)
|
||||||
|
lfd f11, 88(r3)
|
||||||
|
lfd f12, 96(r3)
|
||||||
|
lfd f13, 104(r3)
|
||||||
|
lfd f14, 112(r3)
|
||||||
|
lfd f15, 120(r3)
|
||||||
|
lfd f16, 128(r3)
|
||||||
|
lfd f17, 136(r3)
|
||||||
|
lfd f18, 144(r3)
|
||||||
|
lfd f19, 152(r3)
|
||||||
|
lfd f20, 160(r3)
|
||||||
|
lfd f21, 168(r3)
|
||||||
|
lfd f22, 176(r3)
|
||||||
|
lfd f23, 184(r3)
|
||||||
|
lfd f24, 192(r3)
|
||||||
|
lfd f25, 200(r3)
|
||||||
|
lfd f26, 208(r3)
|
||||||
|
lfd f27, 216(r3)
|
||||||
|
lfd f28, 224(r3)
|
||||||
|
lfd f29, 232(r3)
|
||||||
|
lfd f30, 240(r3)
|
||||||
|
lfd f31, 248(r3)
|
||||||
|
|
||||||
|
#else
|
||||||
|
|
||||||
|
/* Buffer address is in r3. Restore each flop register from an offset
|
||||||
|
into this buffer.
|
||||||
|
|
||||||
|
First the FPSCR. */
|
||||||
|
lfs f31, 128(r3)
|
||||||
|
mtfsf f31, 7
|
||||||
|
|
||||||
|
lfs f0, 0(r3)
|
||||||
|
lfs f1, 4(r3)
|
||||||
|
lfs f2, 8(r3)
|
||||||
|
lfs f3, 12(r3)
|
||||||
|
lfs f4, 16(r3)
|
||||||
|
lfs f5, 20(r3)
|
||||||
|
lfs f6, 24(r3)
|
||||||
|
lfs f7, 28(r3)
|
||||||
|
lfs f8, 32(r3)
|
||||||
|
lfs f9, 36(r3)
|
||||||
|
lfs f10, 40(r3)
|
||||||
|
lfs f11, 44(r3)
|
||||||
|
lfs f12, 48(r3)
|
||||||
|
lfs f13, 52(r3)
|
||||||
|
lfs f14, 56(r3)
|
||||||
|
lfs f15, 60(r3)
|
||||||
|
lfs f16, 64(r3)
|
||||||
|
lfs f17, 68(r3)
|
||||||
|
lfs f18, 72(r3)
|
||||||
|
lfs f19, 76(r3)
|
||||||
|
lfs f20, 80(r3)
|
||||||
|
lfs f21, 84(r3)
|
||||||
|
lfs f22, 88(r3)
|
||||||
|
lfs f23, 92(r3)
|
||||||
|
lfs f24, 96(r3)
|
||||||
|
lfs f25, 100(r3)
|
||||||
|
lfs f26, 104(r3)
|
||||||
|
lfs f27, 108(r3)
|
||||||
|
lfs f28, 112(r3)
|
||||||
|
lfs f29, 116(r3)
|
||||||
|
lfs f30, 120(r3)
|
||||||
|
lfs f31, 124(r3)
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
blr
|
||||||
|
|
||||||
|
#endif /* configUSE_FPU. */
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,138 @@
|
|||||||
|
/*
|
||||||
|
FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 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 (version 2) as published
|
||||||
|
by the Free Software Foundation and modified by the FreeRTOS exception.
|
||||||
|
**NOTE** The exception to the GPL is included to allow you to distribute a
|
||||||
|
combined work that includes FreeRTOS.org without being obliged to provide
|
||||||
|
the source code for any proprietary components. Alternative commercial
|
||||||
|
license and support terms are also available upon request. See the
|
||||||
|
licensing section of http://www.FreeRTOS.org for full details.
|
||||||
|
|
||||||
|
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.
|
||||||
|
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
||||||
|
* *
|
||||||
|
* This is a concise, step by step, 'hands on' guide that describes both *
|
||||||
|
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
||||||
|
* explains numerous examples that are written using the FreeRTOS API. *
|
||||||
|
* Full source code for all the examples is provided in an accompanying *
|
||||||
|
* .zip file. *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
Please ensure to read the configuration and relevant port sections of the
|
||||||
|
online documentation.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||||
|
contact details.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||||
|
critical systems.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||||
|
licensing and training services.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef PORTMACRO_H
|
||||||
|
#define PORTMACRO_H
|
||||||
|
|
||||||
|
#include "xexception_l.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Port specific definitions.
|
||||||
|
*
|
||||||
|
* The settings in this file configure FreeRTOS correctly for the
|
||||||
|
* given hardware and compiler.
|
||||||
|
*
|
||||||
|
* These settings should not be altered.
|
||||||
|
*-----------------------------------------------------------
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Type definitions. */
|
||||||
|
#define portCHAR char
|
||||||
|
#define portFLOAT float
|
||||||
|
#define portDOUBLE double
|
||||||
|
#define portLONG long
|
||||||
|
#define portSHORT short
|
||||||
|
#define portSTACK_TYPE unsigned portLONG
|
||||||
|
#define portBASE_TYPE portLONG
|
||||||
|
|
||||||
|
#if( configUSE_16_BIT_TICKS == 1 )
|
||||||
|
typedef unsigned portSHORT portTickType;
|
||||||
|
#define portMAX_DELAY ( portTickType ) 0xffff
|
||||||
|
#else
|
||||||
|
typedef unsigned portLONG portTickType;
|
||||||
|
#define portMAX_DELAY ( portTickType ) 0xffffffff
|
||||||
|
#endif
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* This port uses the critical nesting count from the TCB rather than
|
||||||
|
maintaining a separate value and then saving this value in the task stack. */
|
||||||
|
#define portCRITICAL_NESTING_IN_TCB 1
|
||||||
|
|
||||||
|
/* Interrupt control macros. */
|
||||||
|
#define portDISABLE_INTERRUPTS() XExc_mDisableExceptions( XEXC_NON_CRITICAL );
|
||||||
|
#define portENABLE_INTERRUPTS() XExc_mEnableExceptions( XEXC_NON_CRITICAL );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Critical section macros. */
|
||||||
|
void vTaskEnterCritical( void );
|
||||||
|
void vTaskExitCritical( void );
|
||||||
|
#define portENTER_CRITICAL() vTaskEnterCritical()
|
||||||
|
#define portEXIT_CRITICAL() vTaskExitCritical()
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Task utilities. */
|
||||||
|
void vPortYield( void );
|
||||||
|
#define portYIELD() asm volatile ( "SC \n\t NOP" )
|
||||||
|
#define portYIELD_FROM_ISR() vTaskSwitchContext()
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Hardware specifics. */
|
||||||
|
#define portBYTE_ALIGNMENT 8
|
||||||
|
#define portSTACK_GROWTH ( -1 )
|
||||||
|
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||||
|
#define portNOP() asm volatile ( "NOP" )
|
||||||
|
|
||||||
|
/* There are 32 * 32bit floating point regieters, plus the FPSCR to save. */
|
||||||
|
#define portNO_FLOP_REGISTERS_TO_SAVE ( 32 + 1 )
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||||
|
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
|
||||||
|
/* Port specific interrupt handling functions. */
|
||||||
|
void vPortSetupInterruptController( void );
|
||||||
|
portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef );
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* PORTMACRO_H */
|
||||||
|
|
||||||
Loading…
Reference in New Issue