Missing PIC32 files.
Richard Barry
17 years ago
parent
d69d2df8d6
commit
2931f43895
@ -0,0 +1,191 @@
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/*
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FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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||||
|
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FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com a version that has been certified for use
|
||||
in safety critical systems, plus commercial licensing, development and
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||||
support options.
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***************************************************************************
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*/
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#include "FreeRTOSConfig.h"
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#define portCONTEXT_SIZE 136
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#define portEXL_AND_IE_BITS 0x03
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#define portEPC_STACK_LOCATION 124
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#define portSTATUS_STACK_LOCATION 128
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#define portCAUSE_STACK_LOCATION 132
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/******************************************************************/
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.macro portSAVE_CONTEXT
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/* Make room for the context. */
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addiu sp, sp, -portCONTEXT_SIZE
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/* Get interrupts above the kernel priority enabled again ASAP. First
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save the current status so we can manipulate it, and the cause and EPC
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registers so we capture their original values in case of interrupt nesting. */
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mfc0 k0, _CP0_CAUSE
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sw k0, portCAUSE_STACK_LOCATION(sp)
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mfc0 k1, _CP0_STATUS
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sw k1, portSTATUS_STACK_LOCATION(sp)
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/* Also save s6 so we can use it during this interrupt. Any
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nesting interrupts should maintain the values of this register
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accross the ISR. */
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sw s6, 44(sp)
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/* s6 holds the EPC value, we may want this during the context switch. */
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mfc0 s6, _CP0_EPC
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/* Enable interrupts above the kernel priority. */
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addiu k0, zero, configKERNEL_INTERRUPT_PRIORITY
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ins k1, k0, 10, 6
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ins k1, zero, 1, 4
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mtc0 k1, _CP0_STATUS
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/* Save the context into the space just created. s6 is saved again
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here as it now contains the EPC value. */
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sw ra, 120(sp)
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sw s8, 116(sp)
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sw t9, 112(sp)
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sw t8, 108(sp)
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sw t7, 104(sp)
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sw t6, 100(sp)
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sw t5, 96(sp)
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sw t4, 92(sp)
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sw t3, 88(sp)
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sw t2, 84(sp)
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sw t1, 80(sp)
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sw t0, 76(sp)
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sw a3, 72(sp)
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sw a2, 68(sp)
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sw a1, 64(sp)
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sw a0, 60(sp)
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sw v1, 56(sp)
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sw v0, 52(sp)
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sw s7, 48(sp)
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sw s6, portEPC_STACK_LOCATION(sp)
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sw s5, 40(sp)
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sw s4, 36(sp)
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sw s3, 32(sp)
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sw s2, 28(sp)
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sw s1, 24(sp)
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sw s0, 20(sp)
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sw $1, 16(sp)
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/* s7 is used as a scratch register. */
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mfhi s7
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sw s7, 12(sp)
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mflo s7
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sw s7, 8(sp)
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/* Each task maintains its own nesting count. */
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la s7, uxCriticalNesting
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lw s7, (s7)
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sw s7, 4(sp)
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/* Update the TCB stack pointer value */
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la s7, pxCurrentTCB
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lw s7, (s7)
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sw sp, (s7)
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/* Switch to the ISR stack, saving the current stack in s5. This might
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be used to determine the cause of a general exception. */
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add s5, zero, sp
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la s7, xISRStackTop
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lw sp, (s7)
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.endm
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/******************************************************************/
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.macro portRESTORE_CONTEXT
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/* Restore the stack pointer from the TCB */
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la s0, pxCurrentTCB
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lw s1, (s0)
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lw sp, (s1)
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/* Restore the context, the first item of which is the critical nesting
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depth. */
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la s0, uxCriticalNesting
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lw s1, 4(sp)
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sw s1, (s0)
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/* Restore the rest of the context. */
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lw s0, 8(sp)
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mtlo s0
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lw s0, 12(sp)
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mthi s0
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lw $1, 16(sp)
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lw s0, 20(sp)
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lw s1, 24(sp)
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lw s2, 28(sp)
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lw s3, 32(sp)
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lw s4, 36(sp)
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lw s5, 40(sp)
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lw s6, 44(sp)
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lw s7, 48(sp)
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lw v0, 52(sp)
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lw v1, 56(sp)
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lw a0, 60(sp)
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lw a1, 64(sp)
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lw a2, 68(sp)
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lw a3, 72(sp)
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lw t0, 76(sp)
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lw t1, 80(sp)
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lw t2, 84(sp)
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lw t3, 88(sp)
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lw t4, 92(sp)
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lw t5, 96(sp)
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lw t6, 100(sp)
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lw t7, 104(sp)
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lw t8, 108(sp)
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lw t9, 112(sp)
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lw s8, 116(sp)
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lw ra, 120(sp)
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/* Protect access to the k registers. */
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di
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lw k1, portSTATUS_STACK_LOCATION(sp)
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lw k0, portEPC_STACK_LOCATION(sp)
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/* Leave the stack how we found it. */
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addiu sp, sp, portCONTEXT_SIZE
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mtc0 k1, _CP0_STATUS
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ehb
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mtc0 k0, _CP0_EPC
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eret
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nop
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.endm
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@ -0,0 +1,192 @@
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/*
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FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
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See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com a version that has been certified for use
|
||||
in safety critical systems, plus commercial licensing, development and
|
||||
support options.
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***************************************************************************
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the PIC32MX port.
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*----------------------------------------------------------*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Hardware specifics. */
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#define portTIMER_PRESCALE 8
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/* Bits within various registers. */
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#define portIE_BIT ( 0x00000001 )
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#define portEXL_BIT ( 0x00000002 )
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#define portIPL_SHIFT ( 10 )
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#define portALL_IPL_BITS ( 0x1f << portIPL_SHIFT )
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/* The EXL bit is set to ensure interrupts do not occur while the context of
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the first task is being restored. */
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#define portINITIAL_SR ( portIE_BIT | portEXL_BIT )
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/* Records the nesting depth of calls to portENTER_CRITICAL(). */
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unsigned portBASE_TYPE uxCriticalNesting = 0x55555555;
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/* The stack used by interrupt service routines that cause a context switch. */
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portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
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/* The top of stack value ensures there is enough space to store 6 registers on
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the callers stack, as some functions seem to want to do this. */
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const portBASE_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
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/* Place the prototype here to ensure the interrupt vector is correctly installed. */
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extern void __attribute__( (interrupt(ipl1), vector(_TIMER_1_VECTOR))) vT1InterruptHandler( void );
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/*
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* General exception handler that will be called for all general exceptions
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* other than SYS. This should be overridden by a user provided handler.
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*/
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void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus ) __attribute__((weak));
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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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*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR; /* CP0_STATUS */
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE) pxCode; /* CP0_EPC */
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE) NULL; /* ra */
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pxTopOfStack -= 15;
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*pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in */
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pxTopOfStack -= 14;
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*pxTopOfStack = (portSTACK_TYPE) 0x00000000; /* critical nesting level */
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pxTopOfStack--;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup a timer for a regular tick.
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*/
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void prvSetupTimerInterrupt( void )
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{
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const unsigned portLONG ulCompareMatch = (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ;
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OpenTimer1( ( T1_ON | T1_PS_1_8 | T1_SOURCE_INT ), ulCompareMatch );
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ConfigIntTimer1( T1_INT_ON | configKERNEL_INTERRUPT_PRIORITY );
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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 scheduler for the PIC port will get stopped
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once running. If required disable the tick interrupt here, then return
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to xPortStartScheduler(). */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical(void)
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{
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unsigned portLONG ulStatus;
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/* Mask interrupts at and below the kernel interrupt priority. */
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ulStatus = _CP0_GET_STATUS();
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ulStatus |= ( configKERNEL_INTERRUPT_PRIORITY << portIPL_SHIFT );
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_CP0_SET_STATUS( ulStatus );
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/* Once interrupts are disabled we can access the nesting count directly. */
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uxCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical(void)
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{
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unsigned portLONG ulStatus;
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/* If we are in a critical section then we can access the nesting count
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directly. */
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uxCriticalNesting--;
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/* Has the nesting unwound? */
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if( uxCriticalNesting == 0 )
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{
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/* Unmask all interrupts. */
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ulStatus = _CP0_GET_STATUS();
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ulStatus &= ~portALL_IPL_BITS;
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_CP0_SET_STATUS( ulStatus );
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}
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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extern void vPortStartFirstTask( void );
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/* Setup the timer to generate the tick. Interrupts will have been
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disabled by the time we get here. */
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prvSetupTimerInterrupt();
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/* Kick off the highest priority task that has been created so far. */
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vPortStartFirstTask();
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/* Should never get here as the tasks will now be executing. */
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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void vApplicationGeneralExceptionHandler( unsigned portLONG ulCause, unsigned portLONG ulStatus )
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{
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/* This function is declared weak and should be overridden by the users
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application. */
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while( 1 );
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}
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@ -0,0 +1,157 @@
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/*
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FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
|
||||
|
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This file is part of the FreeRTOS.org distribution.
|
||||
|
||||
FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
||||
See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com a version that has been certified for use
|
||||
in safety critical systems, plus commercial licensing, development and
|
||||
support options.
|
||||
***************************************************************************
|
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*/
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#include <p32xxxx.h>
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#include <sys/asm.h>
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#include "ISR_Support.h"
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#define portEXC_CODE_MASK ( 0x1f << 2 )
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.set nomips16
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.set noreorder
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.extern pxCurrentTCB
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.extern uxCriticalNesting
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.extern vTaskSwitchContext
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.extern vTaskIncrementTick
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.extern vApplicationGeneralExceptionHandler
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.extern xISRStackTop
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.global vPortStartFirstTask
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.global _general_exception_context
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.global vT1InterruptHandler
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/******************************************************************/
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.section .FreeRTOS, "ax", @progbits
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.set noreorder
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.set noat
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.ent vT1InterruptHandler
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vT1InterruptHandler:
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portSAVE_CONTEXT
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jal vTaskIncrementTick
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nop
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/* If we are using the preemptive scheduler then we might want to select
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a different task to execute. */
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#if configUSE_PREEMPTION == 1
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jal vTaskSwitchContext
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nop
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#endif /* configUSE_PREEMPTION */
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/* Clear timer 0 interrupt. */
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la s1, IFS0CLR
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addiu s0,zero,_IFS0_T1IF_MASK
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sw s0, 0(s1)
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portRESTORE_CONTEXT
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.end vT1InterruptHandler
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/******************************************************************/
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.section .FreeRTOS, "ax", @progbits
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.set noreorder
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.set noat
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.ent xPortStartScheduler
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vPortStartFirstTask:
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/* Simply restore the context of the highest priority task that has been
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created so far. */
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portRESTORE_CONTEXT
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.end xPortStartScheduler
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/*******************************************************************/
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.section .FreeRTOS, "ax", @progbits
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.set noreorder
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.set noat
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.ent _general_exception_context
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_general_exception_context:
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/* Save the context of the current task. */
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portSAVE_CONTEXT
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/* Was this handler caused by a syscall? The original Cause
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value was saved to the stack as it could change as interrupts
|
||||
nest. Use of k registers must be protected from use by nesting
|
||||
interrupts. */
|
||||
lw s7, portCAUSE_STACK_LOCATION(s5)
|
||||
andi s7, s7, portEXC_CODE_MASK
|
||||
addi s7, s7, -( _EXCCODE_SYS << 2 )
|
||||
|
||||
/* Yes - call the SYSCALL handler to select a new task to execute. */
|
||||
beq s7, zero, SyscallHandler
|
||||
nop
|
||||
|
||||
/* No - call the application handler to handle all other types of
|
||||
exception. Pass the status and cause to the application provided
|
||||
handler. Interrupts are disabled during the execution of the user
|
||||
defined handler. */
|
||||
di
|
||||
lw a1, portSTATUS_STACK_LOCATION(s5)
|
||||
lw a0, portCAUSE_STACK_LOCATION(s5)
|
||||
jal vApplicationGeneralExceptionHandler
|
||||
nop
|
||||
ei
|
||||
beq zero, zero, FinishExceptionHandler
|
||||
nop
|
||||
|
||||
SyscallHandler:
|
||||
|
||||
/* Adjust the return that was placed onto the stack to be the
|
||||
address of the instruction following the syscall. s6 already
|
||||
contains the EPC value. */
|
||||
addi s6, 4
|
||||
sw s6, portEPC_STACK_LOCATION(s5)
|
||||
|
||||
jal vTaskSwitchContext
|
||||
nop
|
||||
|
||||
FinishExceptionHandler:
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
.end _general_exception_context
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,111 @@
|
||||
/*
|
||||
FreeRTOS.org V4.6.1 - Copyright (C) 2003-2007 Richard Barry.
|
||||
|
||||
This file is part of the FreeRTOS.org distribution.
|
||||
|
||||
FreeRTOS.org is free software; you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
FreeRTOS.org 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. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with FreeRTOS.org; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
A special exception to the GPL can be applied should you wish to distribute
|
||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
||||
the source code for any proprietary components. See the licensing section
|
||||
of http://www.FreeRTOS.org for full details of how and when the exception
|
||||
can be applied.
|
||||
|
||||
***************************************************************************
|
||||
See http://www.FreeRTOS.org for documentation, latest information, license
|
||||
and contact details. Please ensure to read the configuration and relevant
|
||||
port sections of the online documentation.
|
||||
|
||||
Also see http://www.SafeRTOS.com a version that has been certified for use
|
||||
in safety critical systems, plus commercial licensing, development and
|
||||
support options.
|
||||
***************************************************************************
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
/* System include files */
|
||||
#include <plib.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 short
|
||||
#define portSTACK_TYPE unsigned long
|
||||
#define portBASE_TYPE long
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef unsigned portSHORT portTickType;
|
||||
#define portMAX_DELAY ( portTickType ) 0xffff
|
||||
#else
|
||||
typedef unsigned portLONG portTickType;
|
||||
#define portMAX_DELAY ( portTickType ) 0xffffffff
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Hardware specifics. */
|
||||
#define portBYTE_ALIGNMENT 4
|
||||
#define portSTACK_GROWTH -4
|
||||
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
#define portDISABLE_INTERRUPTS() INTDisableInterrupts()
|
||||
#define portENABLE_INTERRUPTS() INTEnableInterrupts()
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
#define portYIELD() asm volatile ( "ehb \r\n" \
|
||||
"SYSCALL \r\n" )
|
||||
|
||||
#define portNOP() asm volatile ( "nop" )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portEND_SWITCHING_ISR( vSwitchRequired ) if( vSwitchRequired ) vTaskSwitchContext()
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Loading…
Reference in New Issue