diff --git a/portable/GCC/AVR_AVRDx/port.c b/portable/GCC/AVR_AVRDx/port.c new file mode 100644 index 000000000..8fca32953 --- /dev/null +++ b/portable/GCC/AVR_AVRDx/port.c @@ -0,0 +1,350 @@ +/* + * 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 + +#include +#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 diff --git a/portable/GCC/AVR_AVRDx/porthardware.h b/portable/GCC/AVR_AVRDx/porthardware.h new file mode 100644 index 000000000..4b0e04be0 --- /dev/null +++ b/portable/GCC/AVR_AVRDx/porthardware.h @@ -0,0 +1,133 @@ +#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 */ diff --git a/portable/GCC/AVR_AVRDx/portmacro.h b/portable/GCC/AVR_AVRDx/portmacro.h new file mode 100644 index 000000000..83d41d31e --- /dev/null +++ b/portable/GCC/AVR_AVRDx/portmacro.h @@ -0,0 +1,107 @@ +/* + * 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 */ diff --git a/portable/GCC/AVR_Mega0/port.c b/portable/GCC/AVR_Mega0/port.c new file mode 100644 index 000000000..39cdd843a --- /dev/null +++ b/portable/GCC/AVR_Mega0/port.c @@ -0,0 +1,338 @@ +/* + * 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 + +#include + +#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 diff --git a/portable/GCC/AVR_Mega0/porthardware.h b/portable/GCC/AVR_Mega0/porthardware.h new file mode 100644 index 000000000..b0d9002c1 --- /dev/null +++ b/portable/GCC/AVR_Mega0/porthardware.h @@ -0,0 +1,113 @@ +#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 */ diff --git a/portable/GCC/AVR_Mega0/portmacro.h b/portable/GCC/AVR_Mega0/portmacro.h new file mode 100644 index 000000000..040f498fb --- /dev/null +++ b/portable/GCC/AVR_Mega0/portmacro.h @@ -0,0 +1,109 @@ +/* + * 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 */ +