/* FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd. VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** This file is part of the FreeRTOS distribution. FreeRTOS 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 modification to the GPL is included to allow you to distribute >>! a combined work that includes FreeRTOS without being obliged to provide >>! the source code for proprietary components outside of the FreeRTOS >>! kernel. FreeRTOS 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. Full license text is available from the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /* BASIC INTERRUPT DRIVEN DRIVER FOR USB. This file contains all the usb components that must be compiled to ARM mode. The components that can be compiled to either ARM or THUMB mode are contained in USB-CDC.c. */ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" #include "queue.h" /* Demo application includes. */ #include "Board.h" #include "usb.h" #include "USB-CDC.h" #define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 ) /*-----------------------------------------------------------*/ /* Messages and queue used to communicate between the ISR and the USB task. */ static xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ]; extern xQueueHandle xUSBInterruptQueue; /*-----------------------------------------------------------*/ /* The ISR can cause a context switch so is declared naked. */ void vUSB_ISR_Wrapper( void ) __attribute__ ((naked)); /* The function that actually performs the ISR work. This must be separate from the wrapper function to ensure the correct stack frame gets set up. */ void vUSB_ISR_Handler( void ); /*-----------------------------------------------------------*/ void vUSB_ISR_Handler( void ) { portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE; static volatile unsigned long ulNextMessage = 0; xISRStatus *pxMessage; unsigned long ulRxBytes; unsigned char ucFifoIndex; /* Use the next message from the array. */ pxMessage = &( xISRMessages[ ( ulNextMessage & usbQUEUE_LENGTH ) ] ); ulNextMessage++; /* Save UDP ISR state for task-level processing. */ pxMessage->ulISR = AT91C_BASE_UDP->UDP_ISR; pxMessage->ulCSR0 = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ]; /* Clear interrupts from ICR. */ AT91C_BASE_UDP->UDP_ICR = AT91C_BASE_UDP->UDP_IMR | AT91C_UDP_ENDBUSRES; /* Process incoming FIFO data. Must set DIR (if needed) and clear RXSETUP before exit. */ /* Read CSR and get incoming byte count. */ ulRxBytes = ( pxMessage->ulCSR0 >> 16 ) & usbRX_COUNT_MASK; /* Receive control transfers on endpoint 0. */ if( pxMessage->ulCSR0 & ( AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 ) ) { /* Save FIFO data buffer for either a SETUP or DATA stage */ for( ucFifoIndex = 0; ucFifoIndex < ulRxBytes; ucFifoIndex++ ) { pxMessage->ucFifoData[ ucFifoIndex ] = AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ]; } /* Set direction for data stage. Must be done before RXSETUP is cleared. */ if( ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RXSETUP ) ) { if( ulRxBytes && ( pxMessage->ucFifoData[ usbREQUEST_TYPE_INDEX ] & 0x80 ) ) { AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] |= AT91C_UDP_DIR; /* Might not be wise in an ISR! */ while( !(AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_DIR) ); } /* Clear RXSETUP */ AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~AT91C_UDP_RXSETUP; /* Might not be wise in an ISR! */ while ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RXSETUP ); } else { /* Clear RX_DATA_BK0 */ AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~AT91C_UDP_RX_DATA_BK0; /* Might not be wise in an ISR! */ while ( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_RX_DATA_BK0 ); } } /* If we received data on endpoint 1, disable its interrupts until it is processed in the main loop */ if( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] & ( AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 ) ) { AT91C_BASE_UDP->UDP_IDR = AT91C_UDP_EPINT1; } AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] &= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT ); /* Clear interrupts for the other endpoints, retain data flags for endpoint 1. */ AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] &= ~( AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP ); AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_2 ] &= ~usbINT_CLEAR_MASK; AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_3 ] &= ~usbINT_CLEAR_MASK; /* Post ISR data to queue for task-level processing */ xQueueSendFromISR( xUSBInterruptQueue, &pxMessage, &xHigherPriorityTaskWoken ); /* Clear AIC to complete ISR processing */ AT91C_BASE_AIC->AIC_EOICR = 0; /* Do a task switch if needed */ if( xHigherPriorityTaskWoken ) { /* This call will ensure that the unblocked task will be executed immediately upon completion of the ISR if it has a priority higher than the interrupted task. */ portYIELD_FROM_ISR(); } } /*-----------------------------------------------------------*/ void vUSB_ISR_Wrapper( void ) { /* Save the context of the interrupted task. */ portSAVE_CONTEXT(); /* Call the handler to do the work. This must be a separate function to ensure the stack frame is set up correctly. */ vUSB_ISR_Handler(); /* Restore the context of whichever task will execute next. */ portRESTORE_CONTEXT(); }