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227 lines
7.5 KiB
C
227 lines
7.5 KiB
C
/*
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FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation and modified by the FreeRTOS exception.
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**NOTE** The exception to the GPL is included to allow you to distribute a
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combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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Alternative commercial license and support terms are also available upon
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request. See the licensing section of http://www.FreeRTOS.org for full
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license details.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details.
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You should have received a copy of the GNU General Public License along
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with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
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Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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***************************************************************************
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* *
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* The FreeRTOS eBook and reference manual are available to purchase for a *
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* small fee. Help yourself get started quickly while also helping the *
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* FreeRTOS project! See http://www.FreeRTOS.org/Documentation for details *
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* *
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***************************************************************************
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1 tab == 4 spaces!
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the NIOS2 port.
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*----------------------------------------------------------*/
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/* Standard Includes. */
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#include <string.h>
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#include <errno.h>
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/* Altera includes. */
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#include "sys/alt_irq.h"
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#include "altera_avalon_timer_regs.h"
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#include "priv/alt_irq_table.h"
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Interrupts are enabled. */
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#define portINITIAL_ESTATUS ( portSTACK_TYPE ) 0x01
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/*-----------------------------------------------------------*/
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/*
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* Setup the timer to generate the tick interrupts.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* Call back for the alarm function.
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*/
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void vPortSysTickHandler( void * context, alt_u32 id );
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/*-----------------------------------------------------------*/
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void prvReadGp( unsigned long *ulValue )
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{
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asm( "stw gp, (r4) " );
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};
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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portSTACK_TYPE *pxFramePointer = pxTopOfStack - 1;
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portSTACK_TYPE xGlobalPointer;
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prvReadGp( &xGlobalPointer );
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/* End of stack marker. */
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*pxTopOfStack = 0xdeadbeef;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxFramePointer;
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pxTopOfStack--;
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*pxTopOfStack = xGlobalPointer;
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/* Space for R23 to R16. */
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pxTopOfStack -= 9;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_ESTATUS;
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/* Space for R15 to R5. */
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pxTopOfStack -= 12;
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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/* Space for R3 to R1, muldiv and RA. */
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pxTopOfStack -= 5;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Start the timer that generates the tick ISR. Interrupts are disabled
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here already. */
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prvSetupTimerInterrupt();
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/* Start the first task. */
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asm volatile ( " movia r2, restore_sp_from_pxCurrentTCB \n"
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" jmp r2 " );
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/* Should not get here! */
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return 0;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the NIOS2 port will require this function as there
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is nothing to return to. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup the systick timer to generate the tick interrupts at the required
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* frequency.
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*/
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void prvSetupTimerInterrupt( void )
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{
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/* Try to register the interrupt handler. */
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if ( -EINVAL == alt_irq_register( SYS_CLK_IRQ, 0x0, vPortSysTickHandler ) )
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{
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/* Failed to install the Interrupt Handler. */
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asm( "break" );
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}
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else
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{
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/* Configure SysTick to interrupt at the requested rate. */
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IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_STOP_MSK );
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IOWR_ALTERA_AVALON_TIMER_PERIODL( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) & 0xFFFF );
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IOWR_ALTERA_AVALON_TIMER_PERIODH( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) >> 16 );
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IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_CONT_MSK | ALTERA_AVALON_TIMER_CONTROL_START_MSK | ALTERA_AVALON_TIMER_CONTROL_ITO_MSK );
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}
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/* Clear any already pending interrupts generated by the Timer. */
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IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );
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}
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/*-----------------------------------------------------------*/
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void vPortSysTickHandler( void * context, alt_u32 id )
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{
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/* Increment the Kernel Tick. */
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vTaskIncrementTick();
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/* If using preemption, also force a context switch. */
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#if configUSE_PREEMPTION == 1
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vTaskSwitchContext();
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#endif
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/* Clear the interrupt. */
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IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );
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}
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/*-----------------------------------------------------------*/
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/** This function is a re-implementation of the Altera provided function.
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* The function is re-implemented to prevent it from enabling an interrupt
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* when it is registered. Interrupts should only be enabled after the FreeRTOS.org
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* kernel has its scheduler started so that contexts are saved and switched
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* correctly.
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*/
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int alt_irq_register( alt_u32 id, void* context, void (*handler)(void*, alt_u32) )
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{
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int rc = -EINVAL;
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alt_irq_context status;
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if (id < ALT_NIRQ)
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{
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/*
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* interrupts are disabled while the handler tables are updated to ensure
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* that an interrupt doesn't occur while the tables are in an inconsistent
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* state.
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*/
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status = alt_irq_disable_all ();
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alt_irq[id].handler = handler;
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alt_irq[id].context = context;
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rc = (handler) ? alt_irq_enable (id): alt_irq_disable (id);
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/* alt_irq_enable_all(status); This line is removed to prevent the interrupt from being immediately enabled. */
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}
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return rc;
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}
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/*-----------------------------------------------------------*/
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