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Comment the new MicroBlaze port layer files.

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pull/4/head
Richard Barry 14 years ago
parent 0e12cd0768
commit f90794f05a
4 changed files with 250 additions and 147 deletions
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214
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/port.c
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@ -68,47 +68,55 @@
#include <xil_exception.h>
#include <microblaze_exceptions_g.h>
/* Tasks are started with a critical section nesting of 0 - however prior
to the scheduler being commenced we don't want the critical nesting level
to reach zero, so it is initialised to a high value. */
/* Tasks are started with a critical section nesting of 0 - however, prior to
the scheduler being commenced interrupts should not be enabled, so the critical
nesting variable is initialised to a non-zero value. */
#define portINITIAL_NESTING_VALUE ( 0xff )
/* The bit within the MSR register that enabled/disables interrupts. */
#define portMSR_IE ( 0x02U )
/* If the floating point unit is included in the MicroBlaze build, then the
FSR register is saved as part of the task context. portINITIAL_FSR is the value
given to the FSR register when the initial context is set up for a task being
created. */
#define portINITIAL_FSR ( 0U )
/*-----------------------------------------------------------*/
/*
* Initialise the interrupt controller instance.
*/
static portBASE_TYPE prvInitialiseInterruptController( void );
static long prvInitialiseInterruptController( void );
/*
* Call an application provided callback to set up the periodic interrupt used
* for the RTOS tick. Using an application callback allows the application
* writer to decide
/* Ensure the interrupt controller instance variable is initialised before it is
* used, and that the initialisation only happens once.
*/
extern void vApplicationSetupTimerInterrupt( void );
static long prvEnsureInterruptControllerIsInitialised( void );
/*-----------------------------------------------------------*/
/* Counts the nesting depth of calls to portENTER_CRITICAL(). Each task
maintains it's own count, so this variable is saved as part of the task
maintains its own count, so this variable is saved as part of the task
context. */
volatile unsigned portBASE_TYPE uxCriticalNesting = portINITIAL_NESTING_VALUE;
/* To limit the amount of stack required by each task, this port uses a
separate stack for interrupts. */
/* This port uses a separate stack for interrupts. This prevents the stack of
every task needing to be large enough to hold an entire interrupt stack on top
of the task stack. */
unsigned long *pulISRStack;
/* If an interrupt requests a context switch then ulTaskSwitchRequested will
get set to 1, which in turn will cause vTaskSwitchContext() to be called
prior to a task context getting restored on exit from the interrupt. This
mechanism is used as a single interrupt can cause multiple peripherals handlers
to get called, and vTaskSwitchContext() should not get called in each handler. */
/* If an interrupt requests a context switch, then ulTaskSwitchRequested will
get set to 1. ulTaskSwitchRequested is inspected just before the main interrupt
handler exits. If, at that time, ulTaskSwitchRequested is set to 1, the kernel
will call vTaskSwitchContext() to ensure the task that runs immediately after
the interrupt exists is the highest priority task that is able to run. This is
an unusual mechanism, but is used for this port because a single interrupt can
cause the servicing of multiple peripherals - and it is inefficient to call
vTaskSwitchContext() multiple times as each peripheral is serviced. */
volatile unsigned long ulTaskSwitchRequested = 0UL;
/* The instance of the interrupt controller used by this port. */
/* The instance of the interrupt controller used by this port. This is required
by the Xilinx library API functions. */
static XIntc xInterruptControllerInstance;
/*-----------------------------------------------------------*/
@ -117,7 +125,7 @@ static XIntc xInterruptControllerInstance;
* Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been made.
*
* See the header file portable.h.
* See the portable.h header file.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
@ -127,16 +135,7 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
/* Place a few bytes of known values on the bottom of the stack.
This is essential for the Microblaze port and these lines must
not be omitted. The parameter value will overwrite the
0x22222222 value during the function prologue. */
*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x22222222;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x33333333;
pxTopOfStack--;
/* The debugger will look at the previous stack frame. */
not be omitted. */
*pxTopOfStack = ( portSTACK_TYPE ) 0x00000000;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x00000000;
@ -172,6 +171,8 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
*pxTopOfStack = ( portSTACK_TYPE ) 0x04; /* R4 - return values and temporaries. */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;/* R5 contains the function call parameters. */
#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x06; /* R6 - other parameters and temporaries. Used as the return address from vPortTaskEntryPoint. */
pxTopOfStack--;
@ -187,11 +188,17 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x0c; /* R12 - temporaries. */
pxTopOfStack--;
#else
pxTopOfStack-= 8;
#endif
*pxTopOfStack = ( portSTACK_TYPE ) ulR13; /* R13 - read/write small data area. */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* R14 - return address for interrupt. */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) NULL; /* R15 - return address for subroutine. */
#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x10; /* R16 - return address for trap (debugger). */
pxTopOfStack--;
@ -199,7 +206,13 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x12; /* R18 - reserved for assembler and compiler temporaries. */
pxTopOfStack--;
#else
pxTopOfStack -= 4;
#endif
*pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* R19 - must be saved across function calls. Callee-save. Seems to be interpreted as the frame pointer. */
#ifdef portPRE_LOAD_STACK_FOR_DEBUGGING
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x14; /* R20 - reserved for storing a pointer to the Global Offset Table (GOT) in Position Independent Code (PIC). Non-volatile in non-PIC code. Must be saved across function calls. Callee-save. Not used by FreeRTOS. */
pxTopOfStack--;
@ -225,9 +238,12 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */
pxTopOfStack--;
#else
pxTopOfStack -= 13;
#endif
/* Return a pointer to the top of the stack we have generated so this can
be stored in the task control block for the task. */
/* Return a pointer to the top of the stack that has been generated so this
can be stored in the task control block for the task. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
@ -238,12 +254,23 @@ extern void ( vPortStartFirstTask )( void );
extern unsigned long _stack[];
/* Setup the hardware to generate the tick. Interrupts are disabled when
this function is called. */
this function is called.
This port uses an application defined callback function to install the tick
interrupt handler because the kernel will run on lots of different
MicroBlaze and FPGA configurations - not all of which will have the same
timer peripherals defined or available. An example definition of
vApplicationSetupTimerInterrupt() is provided in the official demo
application that accompanies this port. */
vApplicationSetupTimerInterrupt();
/* Reuse the stack from main as the stack for the interrupts/exceptions. */
/* Reuse the stack from main() as the stack for the interrupts/exceptions. */
pulISRStack = ( unsigned long * ) _stack;
/* Ensure there is enough space for the functions called from the interrupt
service routines to write back into the stack frame of the caller. */
pulISRStack -= 2;
/* Restore the context of the first task that is going to run. From here
on, the created tasks will be executing. */
vPortStartFirstTask();
@ -268,7 +295,7 @@ extern void VPortYieldASM( void );
/* Perform the context switch in a critical section to assure it is
not interrupted by the tick ISR. It is not a problem to do this as
each task maintains it's own interrupt status. */
each task maintains its own interrupt status. */
portENTER_CRITICAL();
{
/* Jump directly to the yield function to ensure there is no
@ -281,44 +308,93 @@ extern void VPortYieldASM( void );
/*-----------------------------------------------------------*/
void vPortEnableInterrupt( unsigned char ucInterruptID )
{
long lReturn;
/* An API function is provided to enable an interrupt in the interrupt
controller because the interrupt controller instance variable is private
to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
if( lReturn == pdPASS )
{
XIntc_Enable( &xInterruptControllerInstance, ucInterruptID );
}
configASSERT( lReturn );
}
/*-----------------------------------------------------------*/
void vPortDisableInterrupt( unsigned char ucInterruptID )
{
long lReturn;
/* An API function is provided to disable an interrupt in the interrupt
controller because the interrupt controller instance variable is private
to this file. */
lReturn = prvEnsureInterruptControllerIsInitialised();
if( lReturn == pdPASS )
{
XIntc_Disable( &xInterruptControllerInstance, ucInterruptID );
}
configASSERT( lReturn );
}
/*-----------------------------------------------------------*/
portBASE_TYPE xPortInstallInterruptHandler( unsigned char ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
{
static portBASE_TYPE xInterruptControllerInitialised = pdFALSE;
portBASE_TYPE xReturn = XST_SUCCESS;
long lReturn;
/* An API function is provided to install an interrupt handler because the
interrupt controller instance variable is private to this file. */
if( xInterruptControllerInitialised != pdTRUE )
lReturn = prvEnsureInterruptControllerIsInitialised();
if( lReturn == pdPASS )
{
xReturn = prvInitialiseInterruptController();
xInterruptControllerInitialised = pdTRUE;
lReturn = XIntc_Connect( &xInterruptControllerInstance, ucInterruptID, pxHandler, pvCallBackRef );
}
if( xReturn == XST_SUCCESS )
if( lReturn == XST_SUCCESS )
{
xReturn = XIntc_Connect( &xInterruptControllerInstance, ucInterruptID, pxHandler, pvCallBackRef );
lReturn = pdPASS;
}
if( xReturn == XST_SUCCESS )
configASSERT( lReturn == pdPASS );
return lReturn;
}
/*-----------------------------------------------------------*/
static long prvEnsureInterruptControllerIsInitialised( void )
{
static long lInterruptControllerInitialised = pdFALSE;
long lReturn;
/* Ensure the interrupt controller instance variable is initialised before
it is used, and that the initialisation only happens once. */
if( lInterruptControllerInitialised != pdTRUE )
{
lReturn = prvInitialiseInterruptController();
if( lReturn == pdPASS )
{
lInterruptControllerInitialised = pdTRUE;
}
}
else
{
xReturn = pdPASS;
lReturn = pdPASS;
}
return xReturn;
return lReturn;
}
/*-----------------------------------------------------------*/
/*
* Handler for the timer interrupt.
* Handler for the timer interrupt. This is the handler that the application
* defined callback function vApplicationSetupTimerInterrupt() should install.
*/
void vTickISR( void *pvUnused )
{
@ -327,13 +403,20 @@ extern void vApplicationClearTimerInterrupt( void );
/* Ensure the unused parameter does not generate a compiler warning. */
( void ) pvUnused;
/* This port uses an application defined callback function to clear the tick
interrupt because the kernel will run on lots of different MicroBlaze and
FPGA configurations - not all of which will have the same timer peripherals
defined or available. An example definition of
vApplicationClearTimerInterrupt() is provided in the official demo
application that accompanies this port. */
vApplicationClearTimerInterrupt();
/* Increment the RTOS tick - this might cause a task to unblock. */
vTaskIncrementTick();
/* If we are using the preemptive scheduler then we also need to determine
if this tick should cause a context switch. */
/* If the preemptive scheduler is being used then a context switch should be
requested in case incrementing the tick unblocked a task, or a time slice
should cause another task to enter the Running state. */
#if configUSE_PREEMPTION == 1
/* Force vTaskSwitchContext() to be called as the interrupt exits. */
ulTaskSwitchRequested = 1;
@ -341,13 +424,13 @@ extern void vApplicationClearTimerInterrupt( void );
}
/*-----------------------------------------------------------*/
static portBASE_TYPE prvInitialiseInterruptController( void )
static long prvInitialiseInterruptController( void )
{
portBASE_TYPE xStatus;
long lStatus;
xStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE );
lStatus = XIntc_Initialize( &xInterruptControllerInstance, configINTERRUPT_CONTROLLER_TO_USE );
if( xStatus == XST_SUCCESS )
if( lStatus == XST_SUCCESS )
{
/* Initialise the exception table. */
Xil_ExceptionInit();
@ -366,28 +449,21 @@ portBASE_TYPE xStatus;
/* Start the interrupt controller. Interrupts are enabled when the
scheduler starts. */
xStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE );
lStatus = XIntc_Start( &xInterruptControllerInstance, XIN_REAL_MODE );
/* Ensure the compiler does not generate warnings for the unused
iStatus valud if configASSERT() is not defined. */
( void ) xStatus;
if( lStatus == XST_SUCCESS )
{
lStatus = pdPASS;
}
else
{
lStatus = pdFAIL;
}
}
configASSERT( ( xStatus == ( portBASE_TYPE ) XST_SUCCESS ) )
/*_RB_ Exception test code. */
#if 0
This does not cause the bralid address to be in the r17 register.
__asm volatile (
"bralid r15, 1234 \n"
"or r0, r0, r0 \n"
);
#endif
#if 0
xStatus /= 0;
#endif
configASSERT( lStatus == pdPASS );
return xStatus;
return lStatus;
}
/*-----------------------------------------------------------*/

64
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/port_exceptions.c
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@ -59,6 +59,9 @@
#include <microblaze_exceptions_i.h>
#include <microblaze_exceptions_g.h>
/* The Xilinx library defined exception entry point stacks a number of
registers. These definitions are offsets from the stack pointer to the various
stacked register values. */
#define portexR3_STACK_OFFSET 4
#define portexR4_STACK_OFFSET 5
#define portexR5_STACK_OFFSET 6
@ -74,24 +77,42 @@
#define portexMSR_STACK_OFFSET 19
#define portexR19_STACK_OFFSET -1
#define portexESR_DS_MASK 0x00001000UL
/* This is defined to equal the size, in bytes, of the stack frame generated by
the Xilinx standard library exception entry point. It is required to determine
the stack pointer value prior to the exception being entered. */
#define portexASM_HANDLER_STACK_FRAME_SIZE 84UL
/* Exclude the entire file if the MicroBlaze is not configured to handle
exceptions, or the application defined configuration item
/* The number of bytes a MicroBlaze instruction consumes. */
#define portexINSTRUCTION_SIZE 4
/* Exclude this entire file if the MicroBlaze is not configured to handle
exceptions, or the application defined configuration constant
configINSTALL_EXCEPTION_HANDLERS is not set to 1. */
#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
/* These are global volatiles to allow their inspection by a debugger. */
/* These variables are set in the exception entry code, before
vPortExceptionHandler is called. */
unsigned long *pulStackPointerOnFunctionEntry = NULL, ulBTROnFunctionEntry = 0UL;
/* This is the structure that is filled with the MicroBlaze context as it
existed immediately prior to the exception occurrence. A pointer to this
structure is passed into the vApplicationExceptionRegisterDump() callback
function, if one is defined. */
static xPortRegisterDump xRegisterDump;
/* This is the FreeRTOS exception handler that is installed for all exception
types. It is called from vPortExceptionHanlderEntry() - which is itself defined
in portasm.S. */
void vPortExceptionHandler( void *pvExceptionID );
extern void vPortExceptionHandlerEntry( void *pvExceptionID );
/*-----------------------------------------------------------*/
/* vApplicationExceptionRegisterDump() is a callback function that the
application can optionally define to receive a populated xPortRegisterDump
structure. If the application chooses not to define a version of
vApplicationExceptionRegisterDump() then this weekly defined default
implementation will be called instead. */
extern void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump ) __attribute__((weak));
void vApplicationExceptionRegisterDump( xPortRegisterDump *xRegisterDump )
{
@ -106,6 +127,11 @@ void vPortExceptionHandler( void *pvExceptionID )
{
extern void *pxCurrentTCB;
/* Fill an xPortRegisterDump structure with the MicroBlaze context as it
was immediately before the exception occurrence. */
/* First fill in the name and handle of the task that was in the Running
state when the exception occurred. */
xRegisterDump.xCurrentTaskHandle = pxCurrentTCB;
xRegisterDump.pcCurrentTaskName = pcTaskGetTaskName( NULL );
@ -126,6 +152,7 @@ extern void *pxCurrentTCB;
xRegisterDump.ulR15_return_address_from_subroutine = pulStackPointerOnFunctionEntry[ portexR15_STACK_OFFSET ];
xRegisterDump.ulR18 = pulStackPointerOnFunctionEntry[ portexR18_STACK_OFFSET ];
xRegisterDump.ulR19 = pulStackPointerOnFunctionEntry[ portexR19_STACK_OFFSET ];
xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ];
/* Obtain the value of all other registers. */
xRegisterDump.ulR2_small_data_area = mfgpr( R2 );
@ -148,25 +175,14 @@ extern void *pxCurrentTCB;
xRegisterDump.ulR31 = mfgpr( R31 );
xRegisterDump.ulR1_SP = ( ( unsigned long ) pulStackPointerOnFunctionEntry ) + portexASM_HANDLER_STACK_FRAME_SIZE;
xRegisterDump.ulBTR = ulBTROnFunctionEntry;
xRegisterDump.ulMSR = pulStackPointerOnFunctionEntry[ portexMSR_STACK_OFFSET ];
xRegisterDump.ulEAR = mfear();
xRegisterDump.ulESR = mfesr();
xRegisterDump.ulEDR = mfedr();
#ifdef THIS_IS_PROBABLY_INCORRECT
if( ( xRegisterDump.ulESR * portexESR_DS_MASK ) != 0UL )
{
xRegisterDump.ulPC = mfbtr();
}
else
{
xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_some_exceptions - 4;
}
#else
xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_some_exceptions - 4;
#endif
/* Move the saved program counter back to the instruction that was executed
when the exception occurred. This is only valid for certain types of
exception. */
xRegisterDump.ulPC = xRegisterDump.ulR17_return_address_from_some_exceptions - portexINSTRUCTION_SIZE;
#if XPAR_MICROBLAZE_0_USE_FPU == 1
{
@ -178,6 +194,9 @@ extern void *pxCurrentTCB;
}
#endif
/* Also fill in a string that describes what type of exception this is.
The string uses the same ID names as defined in the MicroBlaze standard
library exception header files. */
switch( ( unsigned long ) pvExceptionID )
{
case XEXC_ID_FSL :
@ -218,6 +237,11 @@ extern void *pxCurrentTCB;
#endif /* XPAR_MICROBLAZE_0_USE_FPU */
}
/* vApplicationExceptionRegisterDump() is a callback function that the
application can optionally define to receive the populated xPortRegisterDump
structure. If the application chooses not to define a version of
vApplicationExceptionRegisterDump() then the weekly defined default
implementation within this file will be called instead. */
vApplicationExceptionRegisterDump( &xRegisterDump );
/* Must not attempt to leave this function! */

9
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portasm.S
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@ -57,7 +57,10 @@
licensing and training services.
*/
/* FreeRTOS includes. */
#include "FreeRTOSConfig.h"
/* Xilinx library includes. */
#include "microblaze_exceptions_g.h"
#include "xparameters.h"
@ -250,7 +253,7 @@ back into the caller stack. */
/* This function is used to exit portRESTORE_CONTEXT() if the task being
returned to last left the Running state by calling taskYIELD() (rather than
being preempted by an interrupt. */
being preempted by an interrupt). */
.text
.align 2
exit_from_yield:
@ -276,9 +279,7 @@ _interrupt_handler:
/* Stack the return address. */
swi r14, r1, portR14_OFFSET
/* Switch to the ISR stack. The pulISRStack value has already been set to
leave space for the caller function to write back into the stack of this
function. */
/* Switch to the ISR stack. */
lwi r1, r0, pulISRStack
/* The parameter to the interrupt handler. */

2
Demo/MicroBlaze_Spartan-6_EthernetLite/SDKProjects/RTOSDemoSource/FreeRTOS_Source/portable/GCC/MicroBlaze/portmacro.h
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@ -100,6 +100,8 @@ portBASE_TYPE xPortInstallInterruptHandler( unsigned char ucInterruptID, XInterr
void vPortEnableInterrupt( unsigned char ucInterruptID );
void vPortDisableInterrupt( unsigned char ucInterruptID );
void vApplicationSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/
/* Critical section macros. */

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