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Added GCC port files for AVR Mega0 and AVR Dx. (#101)

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m17336 5 years ago committed by GitHub
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350
portable/GCC/AVR_AVRDx/port.c
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/*
* FreeRTOS Kernel V10.0.0
* Copyright (C) 2017 Amazon.com, 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. If you wish to use our Amazon
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
*
* 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!
*/
#include <stdlib.h>
#include <avr/interrupt.h>
#include "porthardware.h"
#include "FreeRTOS.h"
#include "task.h"
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the AVR port.
*----------------------------------------------------------*/
/* Start tasks with interrupts enables. */
#define portFLAGS_INT_ENABLED ((StackType_t) 0x80)
/*-----------------------------------------------------------*/
/* We require the address of the pxCurrentTCB variable, but don't want to know
any details of its type. */
typedef void RTOS_TCB_t;
extern volatile RTOS_TCB_t *volatile pxCurrentTCB;
/*-----------------------------------------------------------*/
/*
* Macro to save all the general purpose registers, the save the stack pointer
* into the TCB.
*
* The first thing we do is save the flags then disable interrupts. This is to
* guard our stack against having a context switch interrupt after we have already
* pushed the registers onto the stack - causing the 32 registers to be on the
* stack twice.
*
* r1 is set to zero as the compiler expects it to be thus, however some
* of the math routines make use of R1.
*
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
* so we need not worry about reading/writing to the stack pointer.
*/
#define portSAVE_CONTEXT() \
asm volatile("push r0 \n\t" \
"in r0, __SREG__ \n\t" \
"cli \n\t" \
"push r0 \n\t" \
"in r0, __RAMPZ__ \n\t" \
"push r0 \n\t" \
"push r1 \n\t" \
"clr r1 \n\t" \
"push r2 \n\t" \
"push r3 \n\t" \
"push r4 \n\t" \
"push r5 \n\t" \
"push r6 \n\t" \
"push r7 \n\t" \
"push r8 \n\t" \
"push r9 \n\t" \
"push r10 \n\t" \
"push r11 \n\t" \
"push r12 \n\t" \
"push r13 \n\t" \
"push r14 \n\t" \
"push r15 \n\t" \
"push r16 \n\t" \
"push r17 \n\t" \
"push r18 \n\t" \
"push r19 \n\t" \
"push r20 \n\t" \
"push r21 \n\t" \
"push r22 \n\t" \
"push r23 \n\t" \
"push r24 \n\t" \
"push r25 \n\t" \
"push r26 \n\t" \
"push r27 \n\t" \
"push r28 \n\t" \
"push r29 \n\t" \
"push r30 \n\t" \
"push r31 \n\t" \
"lds r26, pxCurrentTCB \n\t" \
"lds r27, pxCurrentTCB + 1 \n\t" \
"in r0, __SP_L__ \n\t" \
"st x+, r0 \n\t" \
"in r0, __SP_H__ \n\t" \
"st x+, r0 \n\t");
/*
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
* the context save so we can write to the stack pointer.
*/
#define portRESTORE_CONTEXT() \
asm volatile("lds r26, pxCurrentTCB \n\t" \
"lds r27, pxCurrentTCB + 1 \n\t" \
"ld r28, x+ \n\t" \
"out __SP_L__, r28 \n\t" \
"ld r29, x+ \n\t" \
"out __SP_H__, r29 \n\t" \
"pop r31 \n\t" \
"pop r30 \n\t" \
"pop r29 \n\t" \
"pop r28 \n\t" \
"pop r27 \n\t" \
"pop r26 \n\t" \
"pop r25 \n\t" \
"pop r24 \n\t" \
"pop r23 \n\t" \
"pop r22 \n\t" \
"pop r21 \n\t" \
"pop r20 \n\t" \
"pop r19 \n\t" \
"pop r18 \n\t" \
"pop r17 \n\t" \
"pop r16 \n\t" \
"pop r15 \n\t" \
"pop r14 \n\t" \
"pop r13 \n\t" \
"pop r12 \n\t" \
"pop r11 \n\t" \
"pop r10 \n\t" \
"pop r9 \n\t" \
"pop r8 \n\t" \
"pop r7 \n\t" \
"pop r6 \n\t" \
"pop r5 \n\t" \
"pop r4 \n\t" \
"pop r3 \n\t" \
"pop r2 \n\t" \
"pop r1 \n\t" \
"pop r0 \n\t" \
"out __RAMPZ__, r0 \n\t" \
"pop r0 \n\t" \
"out __SREG__, r0 \n\t" \
"pop r0 \n\t");
/*-----------------------------------------------------------*/
/*
* Perform hardware setup to enable ticks from timer.
*/
static void prvSetupTimerInterrupt(void);
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
{
uint16_t usAddress;
/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
/* Place a few bytes of known values on the bottom of the stack.
This is just useful for debugging. Uncomment if needed. */
// *pxTopOfStack = 0x11;
// pxTopOfStack--;
// *pxTopOfStack = 0x22;
// pxTopOfStack--;
// *pxTopOfStack = 0x33;
// pxTopOfStack--;
/* The start of the task code will be popped off the stack last, so place
it on first. */
usAddress = (uint16_t)pxCode;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
usAddress >>= 8;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
portSAVE_CONTEXT places the flags on the stack immediately after r0
to ensure the interrupts get disabled as soon as possible, and so ensuring
the stack use is minimal should a context switch interrupt occur. */
*pxTopOfStack = (StackType_t)0x00; /* R0 */
pxTopOfStack--;
*pxTopOfStack = portFLAGS_INT_ENABLED;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */
pxTopOfStack--;
/* Now the remaining registers. The compiler expects R1 to be 0. */
*pxTopOfStack = (StackType_t)0x00; /* R1 */
/* Leave R2 - R23 untouched */
pxTopOfStack -= 23;
/* Place the parameter on the stack in the expected location. */
usAddress = (uint16_t)pvParameters;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
usAddress >>= 8;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
/* Leave register R26 - R31 untouched */
pxTopOfStack -= 7;
/*lint +e950 +e611 +e923 */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler(void)
{
/* Setup the hardware to generate the tick. */
prvSetupTimerInterrupt();
/* Restore the context of the first task that is going to run. */
portRESTORE_CONTEXT();
/* Simulate a function call end as generated by the compiler. We will now
jump to the start of the task the context of which we have just restored. */
asm volatile("ret");
/* Should not get here. */
return pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler(void)
{
/* vPortEndScheduler is not implemented in this port. */
}
/*-----------------------------------------------------------*/
/*
* Manual context switch. The first thing we do is save the registers so we
* can use a naked attribute.
*/
void vPortYield(void) __attribute__((naked));
void vPortYield(void)
{
portSAVE_CONTEXT();
vTaskSwitchContext();
portRESTORE_CONTEXT();
asm volatile("ret");
}
/*-----------------------------------------------------------*/
/*
* Manual context switch callable from ISRs. The first thing
* we do is save the registers so we can use a naked attribute.
*/
void vPortYieldFromISR(void) __attribute__((naked));
void vPortYieldFromISR(void)
{
portSAVE_CONTEXT();
vTaskSwitchContext();
portRESTORE_CONTEXT();
asm volatile("reti");
}
/*-----------------------------------------------------------*/
/*
* Context switch function used by the tick. This must be identical to
* vPortYield() from the call to vTaskSwitchContext() onwards. The only
* difference from vPortYield() is the tick count is incremented as the
* call comes from the tick ISR.
*/
void vPortYieldFromTick(void) __attribute__((naked));
void vPortYieldFromTick(void)
{
portSAVE_CONTEXT();
if (xTaskIncrementTick() != pdFALSE) {
vTaskSwitchContext();
}
portRESTORE_CONTEXT();
asm volatile("reti");
}
/*-----------------------------------------------------------*/
/*
* Setup timer to generate a tick interrupt.
*/
static void prvSetupTimerInterrupt(void)
{
TICK_init();
}
/*-----------------------------------------------------------*/
#if configUSE_PREEMPTION == 1
/*
* Tick ISR for preemptive scheduler. We can use a naked attribute as
* the context is saved at the start of vPortYieldFromTick(). The tick
* count is incremented after the context is saved.
*/
ISR(TICK_INT_vect, ISR_NAKED)
{
/* Clear tick interrupt flag. */
CLR_INT(INT_FLAGS, INT_MASK);
vPortYieldFromTick();
asm volatile("reti");
}
#else
/*
* Tick ISR for the cooperative scheduler. All this does is increment the
* tick count. We don't need to switch context, this can only be done by
* manual calls to taskYIELD();
*/
ISR(TICK_INT_vect)
{
/* Clear tick interrupt flag. */
INT_FLAGS = INT_MASK;
xTaskIncrementTick();
}
#endif

133
portable/GCC/AVR_AVRDx/porthardware.h
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#ifndef PORTHARDWARE_H
#define PORTHARDWARE_H
#include "FreeRTOSConfig.h"
/*-----------------------------------------------------------*/
#define CLR_INT(FLAG_REG, FLAG_MASK) \
asm volatile( "push r16\n\t" \
"ldi r16, %1\n\t" \
"sts %0, r16\n\t" \
"pop r16\n\t" \
: \
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
);
#if ( configUSE_TIMER_INSTANCE == 0 )
#define TICK_INT_vect TCB0_INT_vect
#define INT_FLAGS TCB0_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB0.INTCTRL = TCB_CAPT_bm; \
TCB0.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB0.INTCTRL &= ~TCB_CAPT_bm;\
TCB0.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 1 )
#define TICK_INT_vect TCB1_INT_vect
#define INT_FLAGS TCB1_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB1.INTCTRL = TCB_CAPT_bm; \
TCB1.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB1.INTCTRL &= ~TCB_CAPT_bm; \
TCB1.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 2 )
#define TICK_INT_vect TCB2_INT_vect
#define INT_FLAGS TCB2_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB2.INTCTRL = TCB_CAPT_bm; \
TCB2.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB2.INTCTRL &= ~TCB_CAPT_bm; \
TCB2.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 3 )
#define TICK_INT_vect TCB3_INT_vect
#define INT_FLAGS TCB3_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB3.INTCTRL = TCB_CAPT_bm; \
TCB3.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB3.INTCTRL &= ~TCB_CAPT_bm; \
TCB3.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 4 )
#define TICK_INT_vect TCB4_INT_vect
#define INT_FLAGS TCB4_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB4.INTCTRL = TCB_CAPT_bm; \
TCB4.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB4.INTCTRL &= ~TCB_CAPT_bm; \
TCB4.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 5 )
/* Hertz to period for RTC setup */
#define RTC_PERIOD_HZ(x) (32768 * ((1.0 / x)))
#define TICK_INT_vect RTC_CNT_vect
#define INT_FLAGS RTC_INTFLAGS
#define INT_MASK RTC_OVF_bm
#define TICK_init() { \
while (RTC.STATUS > 0); \
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \
RTC.INTCTRL |= 1 << RTC_OVF_bp; \
}
#define TICK_stop() { \
RTC.CTRLA &= ~(1 << RTC_RTCEN_bp); \
RTC.INTCTRL &= ~(1 << RTC_OVF_bp); \
}
#else
#undef TICK_INT_vect
#undef INT_FLAGS
#undef INT_MASK
#undef TICK_init()
#error Invalid timer setting.
#endif
/*-----------------------------------------------------------*/
#endif /* PORTHARDWARE_H */

107
portable/GCC/AVR_AVRDx/portmacro.h
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/*
* FreeRTOS Kernel V10.3.1
* Copyright (C) 2020 Amazon.com, 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!
*/
#ifndef PORTMACRO_H
#define PORTMACRO_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 int
#define portSTACK_TYPE uint8_t
#define portBASE_TYPE char
#define portPOINTER_SIZE_TYPE uint16_t
typedef portSTACK_TYPE StackType_t;
typedef signed char BaseType_t;
typedef unsigned char UBaseType_t;
#if (configUSE_16_BIT_TICKS == 1)
typedef uint16_t TickType_t;
#define portMAX_DELAY (TickType_t)0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY (TickType_t)0xffffffffUL
#endif
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portENTER_CRITICAL() \
asm volatile("in __tmp_reg__, __SREG__"); \
asm volatile("cli"); \
asm volatile("push __tmp_reg__")
#define portEXIT_CRITICAL() \
asm volatile("pop __tmp_reg__"); \
asm volatile("out __SREG__, __tmp_reg__")
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
#define portENABLE_INTERRUPTS() asm volatile("sei" ::);
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH (-1)
#define portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ)
#define portBYTE_ALIGNMENT 1
#define portNOP() asm volatile("nop");
/*-----------------------------------------------------------*/
/* Kernel utilities. */
extern void vPortYield(void) __attribute__((naked));
#define portYIELD() vPortYield()
extern void vPortYieldFromISR(void) __attribute__((naked));
#define portYIELD_FROM_ISR() vPortYieldFromISR()
/*-----------------------------------------------------------*/
/* 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)
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */

338
portable/GCC/AVR_Mega0/port.c
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/*
* FreeRTOS Kernel V10.0.0
* Copyright (C) 2017 Amazon.com, 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. If you wish to use our Amazon
* FreeRTOS name, please do so in a fair use way that does not cause confusion.
*
* 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!
*/
#include <stdlib.h>
#include <avr/interrupt.h>
#include "porthardware.h"
#include "FreeRTOS.h"
#include "task.h"
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the AVR port.
*----------------------------------------------------------*/
/* Start tasks with interrupts enables. */
#define portFLAGS_INT_ENABLED ((StackType_t) 0x80)
/*-----------------------------------------------------------*/
/* We require the address of the pxCurrentTCB variable, but don't want to know
any details of its type. */
typedef void RTOS_TCB_t;
extern volatile RTOS_TCB_t *volatile pxCurrentTCB;
/*-----------------------------------------------------------*/
/*
* Macro to save all the general purpose registers, the save the stack pointer
* into the TCB.
*
* The first thing we do is save the flags then disable interrupts. This is to
* guard our stack against having a context switch interrupt after we have already
* pushed the registers onto the stack - causing the 32 registers to be on the
* stack twice.
*
* r1 is set to zero as the compiler expects it to be thus, however some
* of the math routines make use of R1.
*
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
* so we need not worry about reading/writing to the stack pointer.
*/
#define portSAVE_CONTEXT() \
asm volatile("push r0 \n\t" \
"in r0, __SREG__ \n\t" \
"cli \n\t" \
"push r0 \n\t" \
"push r1 \n\t" \
"clr r1 \n\t" \
"push r2 \n\t" \
"push r3 \n\t" \
"push r4 \n\t" \
"push r5 \n\t" \
"push r6 \n\t" \
"push r7 \n\t" \
"push r8 \n\t" \
"push r9 \n\t" \
"push r10 \n\t" \
"push r11 \n\t" \
"push r12 \n\t" \
"push r13 \n\t" \
"push r14 \n\t" \
"push r15 \n\t" \
"push r16 \n\t" \
"push r17 \n\t" \
"push r18 \n\t" \
"push r19 \n\t" \
"push r20 \n\t" \
"push r21 \n\t" \
"push r22 \n\t" \
"push r23 \n\t" \
"push r24 \n\t" \
"push r25 \n\t" \
"push r26 \n\t" \
"push r27 \n\t" \
"push r28 \n\t" \
"push r29 \n\t" \
"push r30 \n\t" \
"push r31 \n\t" \
"lds r26, pxCurrentTCB \n\t" \
"lds r27, pxCurrentTCB + 1 \n\t" \
"in r0, __SP_L__ \n\t" \
"st x+, r0 \n\t" \
"in r0, __SP_H__ \n\t" \
"st x+, r0 \n\t");
/*
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
* the context save so we can write to the stack pointer.
*/
#define portRESTORE_CONTEXT() \
asm volatile("lds r26, pxCurrentTCB \n\t" \
"lds r27, pxCurrentTCB + 1 \n\t" \
"ld r28, x+ \n\t" \
"out __SP_L__, r28 \n\t" \
"ld r29, x+ \n\t" \
"out __SP_H__, r29 \n\t" \
"pop r31 \n\t" \
"pop r30 \n\t" \
"pop r29 \n\t" \
"pop r28 \n\t" \
"pop r27 \n\t" \
"pop r26 \n\t" \
"pop r25 \n\t" \
"pop r24 \n\t" \
"pop r23 \n\t" \
"pop r22 \n\t" \
"pop r21 \n\t" \
"pop r20 \n\t" \
"pop r19 \n\t" \
"pop r18 \n\t" \
"pop r17 \n\t" \
"pop r16 \n\t" \
"pop r15 \n\t" \
"pop r14 \n\t" \
"pop r13 \n\t" \
"pop r12 \n\t" \
"pop r11 \n\t" \
"pop r10 \n\t" \
"pop r9 \n\t" \
"pop r8 \n\t" \
"pop r7 \n\t" \
"pop r6 \n\t" \
"pop r5 \n\t" \
"pop r4 \n\t" \
"pop r3 \n\t" \
"pop r2 \n\t" \
"pop r1 \n\t" \
"pop r0 \n\t" \
"out __SREG__, r0 \n\t" \
"pop r0 \n\t");
/*-----------------------------------------------------------*/
/*
* Perform hardware setup to enable ticks from timer.
*/
static void prvSetupTimerInterrupt(void);
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
StackType_t *pxPortInitialiseStack(StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters)
{
uint16_t usAddress;
/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
/* Place a few bytes of known values on the bottom of the stack.
This is just useful for debugging. Uncomment if needed. */
// *pxTopOfStack = 0x11;
// pxTopOfStack--;
// *pxTopOfStack = 0x22;
// pxTopOfStack--;
// *pxTopOfStack = 0x33;
// pxTopOfStack--;
/* The start of the task code will be popped off the stack last, so place
it on first. */
usAddress = (uint16_t)pxCode;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
usAddress >>= 8;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
portSAVE_CONTEXT places the flags on the stack immediately after r0
to ensure the interrupts get disabled as soon as possible, and so ensuring
the stack use is minimal should a context switch interrupt occur. */
*pxTopOfStack = (StackType_t)0x00; /* R0 */
pxTopOfStack--;
*pxTopOfStack = portFLAGS_INT_ENABLED;
pxTopOfStack--;
/* Now the remaining registers. The compiler expects R1 to be 0. */
*pxTopOfStack = (StackType_t)0x00; /* R1 */
/* Leave R2 - R23 untouched */
pxTopOfStack -= 23;
/* Place the parameter on the stack in the expected location. */
usAddress = (uint16_t)pvParameters;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
pxTopOfStack--;
usAddress >>= 8;
*pxTopOfStack = (StackType_t)(usAddress & (uint16_t)0x00ff);
/* Leave register R26 - R31 untouched */
pxTopOfStack -= 7;
/*lint +e950 +e611 +e923 */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler(void)
{
/* Setup the hardware to generate the tick. */
prvSetupTimerInterrupt();
/* Restore the context of the first task that is going to run. */
portRESTORE_CONTEXT();
/* Simulate a function call end as generated by the compiler. We will now
jump to the start of the task the context of which we have just restored. */
asm volatile("ret");
/* Should not get here. */
return pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler(void)
{
/* vPortEndScheduler is not implemented in this port. */
}
/*-----------------------------------------------------------*/
/*
* Manual context switch. The first thing we do is save the registers so we
* can use a naked attribute.
*/
void vPortYield(void) __attribute__((naked));
void vPortYield(void)
{
portSAVE_CONTEXT();
vTaskSwitchContext();
portRESTORE_CONTEXT();
asm volatile("ret");
}
/*-----------------------------------------------------------*/
/*
* Manual context switch callable from ISRs. The first thing
* we do is save the registers so we can use a naked attribute.
*/
void vPortYieldFromISR(void) __attribute__((naked));
void vPortYieldFromISR(void)
{
portSAVE_CONTEXT();
vTaskSwitchContext();
portRESTORE_CONTEXT();
asm volatile("reti");
}
/*-----------------------------------------------------------*/
/*
* Context switch function used by the tick. This must be identical to
* vPortYield() from the call to vTaskSwitchContext() onwards. The only
* difference from vPortYield() is the tick count is incremented as the
* call comes from the tick ISR.
*/
void vPortYieldFromTick(void) __attribute__((naked));
void vPortYieldFromTick(void)
{
portSAVE_CONTEXT();
if (xTaskIncrementTick() != pdFALSE) {
vTaskSwitchContext();
}
portRESTORE_CONTEXT();
asm volatile("reti");
}
/*-----------------------------------------------------------*/
/*
* Setup timer to generate a tick interrupt.
*/
static void prvSetupTimerInterrupt(void)
{
TICK_init();
}
/*-----------------------------------------------------------*/
#if configUSE_PREEMPTION == 1
/*
* Tick ISR for preemptive scheduler. We can use a naked attribute as
* the context is saved at the start of vPortYieldFromTick(). The tick
* count is incremented after the context is saved.
*/
ISR(TICK_INT_vect, ISR_NAKED)
{
/* Clear tick interrupt flag. */
CLR_INT(INT_FLAGS, INT_MASK);
vPortYieldFromTick();
asm volatile("reti");
}
#else
/*
* Tick ISR for the cooperative scheduler. All this does is increment the
* tick count. We don't need to switch context, this can only be done by
* manual calls to taskYIELD();
*/
ISR(TICK_INT_vect)
{
/* Clear tick interrupt flag. */
INT_FLAGS = INT_MASK;
xTaskIncrementTick();
}
#endif

113
portable/GCC/AVR_Mega0/porthardware.h
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#ifndef PORTHARDWARE_H
#define PORTHARDWARE_H
#include "FreeRTOSConfig.h"
/*-----------------------------------------------------------*/
#define CLR_INT(FLAG_REG, FLAG_MASK) \
asm volatile( "push r16\n\t" \
"ldi r16, %1\n\t" \
"sts %0, r16\n\t" \
"pop r16\n\t" \
: \
: "i"(_SFR_MEM_ADDR(FLAG_REG)),"i"((uint8_t)(FLAG_MASK)) \
);
#if ( configUSE_TIMER_INSTANCE == 0 )
#define TICK_INT_vect TCB0_INT_vect
#define INT_FLAGS TCB0_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB0.INTCTRL = TCB_CAPT_bm; \
TCB0.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB0.INTCTRL &= ~TCB_CAPT_bm;\
TCB0.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 1 )
#define TICK_INT_vect TCB1_INT_vect
#define INT_FLAGS TCB1_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB1.INTCTRL = TCB_CAPT_bm; \
TCB1.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB1.INTCTRL &= ~TCB_CAPT_bm; \
TCB1.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 2 )
#define TICK_INT_vect TCB2_INT_vect
#define INT_FLAGS TCB2_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB2.INTCTRL = TCB_CAPT_bm; \
TCB2.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB2.INTCTRL &= ~TCB_CAPT_bm; \
TCB2.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 3 )
#define TICK_INT_vect TCB3_INT_vect
#define INT_FLAGS TCB3_INTFLAGS
#define INT_MASK TCB_CAPT_bm
#define TICK_init() { \
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
TCB3.INTCTRL = TCB_CAPT_bm; \
TCB3.CTRLA = TCB_ENABLE_bm; \
}
#define TICK_stop() { \
TCB3.INTCTRL &= ~TCB_CAPT_bm; \
TCB3.CTRLA &= ~TCB_ENABLE_bm; \
}
#elif ( configUSE_TIMER_INSTANCE == 4 )
#define TICK_INT_vect RTC_CNT_vect
#define INT_FLAGS RTC_INTFLAGS
#define INT_MASK RTC_OVF_bm
#define RTC_PERIOD_HZ(x) (32768 * ( (1.0 / x) ) )
#define TICK_init() { \
while (RTC.STATUS > 0); \
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
RTC.PER = RTC_PERIOD_HZ(configTICK_RATE_HZ); \
RTC.INTCTRL |= 1 << RTC_OVF_bp; \
}
#define TICK_stop() { \
RTC.CTRLA &= ~(1 << RTC_RTCEN_bp); \
RTC.INTCTRL &= ~(1 << RTC_OVF_bp); \
}
#else
#undef TICK_INT_vect
#undef INT_FLAGS
#undef INT_MASK
#error Invalid timer setting
#endif
/*-----------------------------------------------------------*/
#endif /* PORTHARDWARE_H */

109
portable/GCC/AVR_Mega0/portmacro.h
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/*
* FreeRTOS Kernel V10.3.1
* Copyright (C) 2020 Amazon.com, 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!
*/
#ifndef PORTMACRO_H
#define PORTMACRO_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 int
#define portSTACK_TYPE uint8_t
#define portBASE_TYPE char
#define portPOINTER_SIZE_TYPE uint16_t
typedef portSTACK_TYPE StackType_t;
typedef signed char BaseType_t;
typedef unsigned char UBaseType_t;
#if (configUSE_16_BIT_TICKS == 1)
typedef uint16_t TickType_t;
#define portMAX_DELAY (TickType_t)0xffff
#else
typedef uint32_t TickType_t;
#define portMAX_DELAY (TickType_t)0xffffffffUL
#endif
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portENTER_CRITICAL() \
asm volatile("in __tmp_reg__, __SREG__"); \
asm volatile("cli"); \
asm volatile("push __tmp_reg__")
#define portEXIT_CRITICAL() \
asm volatile("pop __tmp_reg__"); \
asm volatile("out __SREG__, __tmp_reg__")
#define portDISABLE_INTERRUPTS() asm volatile("cli" ::);
#define portENABLE_INTERRUPTS() asm volatile("sei" ::);
/*-----------------------------------------------------------*/
/* Architecture specifics. */
#define portSTACK_GROWTH (-1)
#define portTICK_PERIOD_MS ((TickType_t)1000 / configTICK_RATE_HZ)
#define portBYTE_ALIGNMENT 1
#define portNOP() asm volatile("nop");
/*-----------------------------------------------------------*/
/* Kernel utilities. */
extern void vPortYield(void) __attribute__((naked));
#define portYIELD() vPortYield()
extern void vPortYieldFromISR(void) __attribute__((naked));
#define portYIELD_FROM_ISR() vPortYieldFromISR()
/*-----------------------------------------------------------*/
/* 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)
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */
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