You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
297 lines
11 KiB
C
297 lines
11 KiB
C
/*
|
|
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
|
* Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* 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.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
*/
|
|
|
|
/*
|
|
* Implementation of functions defined in portable.h
|
|
*/
|
|
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "FreeRTOSConfig.h"
|
|
|
|
#include "arc/arc_exception.h"
|
|
#include "arc/arc_timer.h"
|
|
#include "board.h"
|
|
|
|
#include "arc_freertos_exceptions.h"
|
|
|
|
volatile unsigned int ulCriticalNesting = 999UL;
|
|
volatile unsigned int context_switch_reqflg; /* task context switch request flag in exceptions and interrupts handling */
|
|
|
|
/**
|
|
* \var exc_nest_count
|
|
* \brief the counter for exc/int processing, =0 no int/exc
|
|
* >1 in int/exc processing
|
|
* @}
|
|
*/
|
|
uint32_t exc_nest_count;
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief kernel tick interrupt handler of freertos
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
static void vKernelTick( void * ptr )
|
|
{
|
|
/* clear timer interrupt */
|
|
arc_timer_int_clear( BOARD_OS_TIMER_ID );
|
|
board_timer_update( configTICK_RATE_HZ );
|
|
|
|
if( xTaskIncrementTick() )
|
|
{
|
|
portYIELD_FROM_ISR(); /* need to make task switch */
|
|
}
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief setup freertos kernel tick
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
static void prvSetupTimerInterrupt( void )
|
|
{
|
|
unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
|
|
|
|
int_disable( BOARD_OS_TIMER_INTNO ); /* disable os timer interrupt */
|
|
arc_timer_stop( BOARD_OS_TIMER_ID );
|
|
arc_timer_start( BOARD_OS_TIMER_ID, TIMER_CTRL_IE | TIMER_CTRL_NH, cyc );
|
|
|
|
int_handler_install( BOARD_OS_TIMER_INTNO, ( INT_HANDLER_T ) vKernelTick );
|
|
int_pri_set( BOARD_OS_TIMER_INTNO, INT_PRI_MIN );
|
|
int_enable( BOARD_OS_TIMER_INTNO );
|
|
}
|
|
|
|
/*
|
|
* Setup the stack of a new task so it is ready to be placed under the
|
|
* scheduler control. The registers have to be placed on the stack in
|
|
* the order that the port expects to find them.
|
|
*
|
|
* For ARC, task context switch is implemented with the help of SWI exception
|
|
* It's not efficient but simple.
|
|
*
|
|
*/
|
|
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
|
TaskFunction_t pxCode,
|
|
void * pvParameters )
|
|
{
|
|
/* To ensure asserts in tasks.c don't fail, although in this case the assert
|
|
* is not really required. */
|
|
pxTopOfStack--;
|
|
|
|
/* Setup the initial stack of the task. The stack is set exactly as
|
|
* expected by the portRESTORE_CONTEXT() macro. */
|
|
|
|
/* When the task starts is will expect to find the function parameter in
|
|
* R0. */
|
|
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
|
|
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) pxCode; /* function body */
|
|
|
|
/* PC */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) start_r; /* dispatch return address */
|
|
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING;
|
|
return pxTopOfStack;
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief start the freertos scheduler, go to the first task
|
|
*
|
|
* @returns
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
/* Start the timer that generates the tick ISR. */
|
|
prvSetupTimerInterrupt();
|
|
start_dispatch();
|
|
|
|
/* Should not get here! */
|
|
return 0;
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
void vPortEndScheduler( void )
|
|
{
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief generate a task switch request in ISR
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
void vPortYieldFromIsr( void )
|
|
{
|
|
unsigned int status32;
|
|
|
|
status32 = cpu_lock_save();
|
|
context_switch_reqflg = true;
|
|
cpu_unlock_restore( status32 );
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
void vPortYield( void )
|
|
{
|
|
unsigned int status32;
|
|
|
|
status32 = cpu_lock_save();
|
|
dispatch();
|
|
cpu_unlock_restore( status32 );
|
|
}
|
|
|
|
/* --------------------------------------------------------------------------*/
|
|
|
|
/**
|
|
* @brief
|
|
*/
|
|
/* ----------------------------------------------------------------------------*/
|
|
void vPortEndTask( void )
|
|
{
|
|
#if ( INCLUDE_vTaskDelete == 1 )
|
|
vTaskDelete( NULL ); /* Delete task itself */
|
|
#endif
|
|
|
|
while( 1 ) /* Yield to other task */
|
|
{
|
|
vPortYield();
|
|
}
|
|
}
|
|
|
|
#if ARC_FEATURE_STACK_CHECK
|
|
|
|
/*
|
|
* !!! Note !!!
|
|
* This a trick!!!
|
|
* It's a copy from task.c. We need to konw the definition of TCB for the purpose of hardware
|
|
* stack check. Pls don't forget to update it when FreeRTOS is updated.
|
|
*/
|
|
typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
|
|
{
|
|
volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
|
|
|
|
#if ( portUSING_MPU_WRAPPERS == 1 )
|
|
xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
|
|
#endif
|
|
|
|
ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
|
|
ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
|
|
UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
|
|
StackType_t * pxStack; /*< Points to the start of the stack. */
|
|
char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
|
|
|
|
#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
|
|
StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
|
|
#endif
|
|
|
|
#if ( portCRITICAL_NESTING_IN_TCB == 1 )
|
|
UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
|
|
#endif
|
|
|
|
#if ( configUSE_TRACE_FACILITY == 1 )
|
|
UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
|
|
UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
|
|
#endif
|
|
|
|
#if ( configUSE_MUTEXES == 1 )
|
|
UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
|
|
UBaseType_t uxMutexesHeld;
|
|
#endif
|
|
|
|
#if ( configUSE_APPLICATION_TASK_TAG == 1 )
|
|
TaskHookFunction_t pxTaskTag;
|
|
#endif
|
|
|
|
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
|
|
void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
|
|
#endif
|
|
|
|
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
|
uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
|
|
#endif
|
|
|
|
#if ( configUSE_NEWLIB_REENTRANT == 1 )
|
|
|
|
/* Allocate a Newlib reent structure that is specific to this task.
|
|
* Note Newlib support has been included by popular demand, but is not
|
|
* used by the FreeRTOS maintainers themselves. FreeRTOS is not
|
|
* responsible for resulting newlib operation. User must be familiar with
|
|
* newlib and must provide system-wide implementations of the necessary
|
|
* stubs. Be warned that (at the time of writing) the current newlib design
|
|
* implements a system-wide malloc() that must be provided with locks. */
|
|
struct _reent xNewLib_reent;
|
|
#endif
|
|
|
|
#if ( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
volatile uint32_t ulNotifiedValue;
|
|
volatile uint8_t ucNotifyState;
|
|
#endif
|
|
|
|
/* See the comments above the definition of
|
|
* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
|
|
#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
|
|
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
|
|
#endif
|
|
|
|
#if ( INCLUDE_xTaskAbortDelay == 1 )
|
|
uint8_t ucDelayAborted;
|
|
#endif
|
|
|
|
#if ( configUSE_POSIX_ERRNO == 1 )
|
|
int iTaskErrno;
|
|
#endif
|
|
} tskTCB;
|
|
|
|
|
|
void vPortSetStackCheck( TaskHandle_t old,
|
|
TaskHandle_t new )
|
|
{
|
|
if( new != NULL )
|
|
{
|
|
arc_aux_write( AUX_USTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) );
|
|
arc_aux_write( AUX_USTACK_TOP, ( uint32_t ) ( new->pxStack ) );
|
|
}
|
|
}
|
|
#endif /* if ARC_FEATURE_STACK_CHECK */
|