Added new Nios2 port layer.
Richard Barry
16 years ago
parent
3a883a776c
commit
6358344ea1
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/*
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FreeRTOS V5.4.1 - 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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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* 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 portLONG *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 inconsistant
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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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@ -0,0 +1,169 @@
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/*
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FreeRTOS V5.4.1 - 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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* Looking for a quick start? Then check out the FreeRTOS eBook! *
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* 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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.extern vTaskSwitchContext
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.set noat
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# Exported to start the first task.
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.globl restore_sp_from_pxCurrentTCB
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# Entry point for exceptions.
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.section .exceptions.entry, "xa"
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# Save the entire context of a task.
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save_context:
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addi ea, ea, -4 # Point to the next instruction.
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addi sp, sp, -116 # Create space on the stack.
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stw ra, 0(sp)
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# Leave a gap for muldiv 0
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stw at, 8(sp)
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stw r2, 12(sp)
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stw r3, 16(sp)
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stw r4, 20(sp)
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stw r5, 24(sp)
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stw r6, 28(sp)
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stw r7, 32(sp)
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stw r8, 36(sp)
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stw r9, 40(sp)
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stw r10, 44(sp)
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stw r11, 48(sp)
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stw r12, 52(sp)
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stw r13, 56(sp)
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stw r14, 60(sp)
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stw r15, 64(sp)
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rdctl r5, estatus # Save the eStatus
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stw r5, 68(sp)
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stw ea, 72(sp) # Save the PC
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stw r16, 76(sp) # Save the remaining registers
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stw r17, 80(sp)
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stw r18, 84(sp)
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stw r19, 88(sp)
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stw r20, 92(sp)
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stw r21, 96(sp)
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stw r22, 100(sp)
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stw r23, 104(sp)
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stw gp, 108(sp)
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stw fp, 112(sp)
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save_sp_to_pxCurrentTCB:
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movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer
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ldw et, (et) # Load the value of the pxCurrentTCB pointer
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stw sp, (et) # Store the stack pointer into the top of the TCB
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.section .exceptions.irqtest, "xa"
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hw_irq_test:
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/*
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* Test to see if the exception was a software exception or caused
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* by an external interrupt, and vector accordingly.
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*/
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rdctl r4, ipending # Load the Pending Interrupts indication
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rdctl r5, estatus # Load the eStatus (enabled interrupts).
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andi r2, r5, 1 # Are interrupts enabled globally.
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beq r2, zero, soft_exceptions # Interrupts are not enabled.
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beq r4, zero, soft_exceptions # There are no interrupts triggered.
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.section .exceptions.irqhandler, "xa"
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hw_irq_handler:
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call alt_irq_handler # Call the alt_irq_handler to deliver to the registered interrupt handler.
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.section .exceptions.irqreturn, "xa"
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restore_sp_from_pxCurrentTCB:
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movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer
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ldw et, (et) # Load the value of the pxCurrentTCB pointer
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ldw sp, (et) # Load the stack pointer with the top value of the TCB
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restore_context:
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ldw ra, 0(sp) # Restore the registers.
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# Leave a gap for muldiv 0.
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ldw at, 8(sp)
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ldw r2, 12(sp)
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ldw r3, 16(sp)
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ldw r4, 20(sp)
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ldw r5, 24(sp)
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ldw r6, 28(sp)
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ldw r7, 32(sp)
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ldw r8, 36(sp)
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ldw r9, 40(sp)
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ldw r10, 44(sp)
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ldw r11, 48(sp)
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ldw r12, 52(sp)
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ldw r13, 56(sp)
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ldw r14, 60(sp)
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ldw r15, 64(sp)
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ldw et, 68(sp) # Load the eStatus
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wrctl estatus, et # Write the eStatus
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ldw ea, 72(sp) # Load the Program Counter
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ldw r16, 76(sp)
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ldw r17, 80(sp)
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ldw r18, 84(sp)
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ldw r19, 88(sp)
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ldw r20, 92(sp)
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ldw r21, 96(sp)
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ldw r22, 100(sp)
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ldw r23, 104(sp)
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ldw gp, 108(sp)
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ldw fp, 112(sp)
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addi sp, sp, 116 # Release stack space
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eret # Return to address ea, loading eStatus into Status.
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.section .exceptions.soft, "xa"
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soft_exceptions:
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ldw et, 0(ea) # Load the instruction where the interrupt occured.
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movhi at, %hi(0x003B683A) # Load the registers with the trap instruction code
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ori at, at, %lo(0x003B683A)
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cmpne et, et, at # Compare the trap instruction code to the last excuted instruction
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beq et, r0, call_scheduler # its a trap so switchcontext
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break # This is an un-implemented instruction or muldiv problem.
|
||||||
|
br restore_context # its something else
|
||||||
|
|
||||||
|
call_scheduler:
|
||||||
|
addi ea, ea, 4 # A trap was called, increment the program counter so it is not called again.
|
||||||
|
stw ea, 72(sp) # Save the new program counter to the context.
|
||||||
|
call vTaskSwitchContext # Pick the next context.
|
||||||
|
br restore_sp_from_pxCurrentTCB # Switch in the task context and restore.
|
||||||
@ -0,0 +1,121 @@
|
|||||||
|
/*
|
||||||
|
FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
|
||||||
|
|
||||||
|
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 exception 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.
|
||||||
|
Alternative commercial license and support terms are also available upon
|
||||||
|
request. See the licensing section of http://www.FreeRTOS.org for full
|
||||||
|
license details.
|
||||||
|
|
||||||
|
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. See the GNU General Public License for
|
||||||
|
more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License along
|
||||||
|
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
|
||||||
|
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
|
||||||
|
|
||||||
|
|
||||||
|
***************************************************************************
|
||||||
|
* *
|
||||||
|
* Looking for a quick start? Then check out the FreeRTOS eBook! *
|
||||||
|
* See http://www.FreeRTOS.org/Documentation for details *
|
||||||
|
* *
|
||||||
|
***************************************************************************
|
||||||
|
|
||||||
|
1 tab == 4 spaces!
|
||||||
|
|
||||||
|
Please ensure to read the configuration and relevant port sections of the
|
||||||
|
online documentation.
|
||||||
|
|
||||||
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
||||||
|
contact details.
|
||||||
|
|
||||||
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
||||||
|
critical systems.
|
||||||
|
|
||||||
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||||
|
licensing and training services.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef PORTMACRO_H
|
||||||
|
#define PORTMACRO_H
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "sys/alt_irq.h"
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* 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 portLONG
|
||||||
|
#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
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Architecture specifics. */
|
||||||
|
#define portSTACK_GROWTH ( -1 )
|
||||||
|
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||||
|
#define portBYTE_ALIGNMENT 4
|
||||||
|
#define portNOP() asm volatile ( "NOP" )
|
||||||
|
#define portCRITICAL_NESTING_IN_TCB 1
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
extern void vTaskSwitchContext( void );
|
||||||
|
#define portYIELD() asm volatile ( "trap" );
|
||||||
|
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext()
|
||||||
|
|
||||||
|
|
||||||
|
/* Include the port_asm.S file where the Context saving/restoring is defined. */
|
||||||
|
__asm__( "\n\t.globl save_context" );
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
extern void vTaskEnterCritical( void );
|
||||||
|
extern void vTaskExitCritical( void );
|
||||||
|
|
||||||
|
#define portDISABLE_INTERRUPTS() alt_irq_disable_all()
|
||||||
|
#define portENABLE_INTERRUPTS() alt_irq_enable_all( 0x01 );
|
||||||
|
#define portENTER_CRITICAL() vTaskEnterCritical()
|
||||||
|
#define portEXIT_CRITICAL() vTaskExitCritical()
|
||||||
|
/*-----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||||
|
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* PORTMACRO_H */
|
||||||
|
|
||||||
Loading…
Reference in New Issue