Changes required to build with the latest Xilinx tools.
Richard Barry
17 years ago
parent
bc7068a690
commit
d1b9463e29
@ -1,260 +1,260 @@
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/*
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FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 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
|
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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.
|
||||
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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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***************************************************************************
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* *
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* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
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||||
* and even write all or part of your application on your behalf. *
|
||||
* See http://www.OpenRTOS.com for details of the services we provide to *
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||||
* expedite your project. *
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* *
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***************************************************************************
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***************************************************************************
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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
|
||||
contact details.
|
||||
|
||||
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 PPC405 port.
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*----------------------------------------------------------*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Library includes. */
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#include "xtime_l.h"
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#include "xintc.h"
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#include "xintc_i.h"
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/*-----------------------------------------------------------*/
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/* Definitions to set the initial MSR of each task. */
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#define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
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#define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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#define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
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#define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE )
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/*-----------------------------------------------------------*/
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/*
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* Setup the system timer to generate the tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* The handler for the tick interrupt - defined in portasm.s.
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*/
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extern void vPortTickISR( void );
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/*
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* The handler for the yield function - defined in portasm.s.
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*/
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extern void vPortYield( void );
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/*
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* Function to start the scheduler running by starting the highest
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* priority task that has thus far been created.
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*/
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extern void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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/* Structure used to hold the state of the interrupt controller. */
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static XIntc xInterruptController;
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if the task had been
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* interrupted.
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*
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* See the header file portable.h.
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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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/* Place a known value at the bottom of the stack for debugging. */
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*pxTopOfStack = 0xDEADBEEF;
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*pxTopOfStack--;
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/* EABI stack frame. */
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pxTopOfStack -= 28; /* R31 to R4 inclusive. */
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/* Parameters in R3. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack--;
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*pxTopOfStack = 0x02020202UL; /* R2. */
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pxTopOfStack--;
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/* R1 is the stack pointer so is omitted. */
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*pxTopOfStack = 0x10000001UL;; /* R0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* USPRG0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* XER. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CTR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL;;/* Backchain. */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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prvSetupTimerInterrupt();
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XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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vPortStartFirstTask();
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/* Should not get here as the tasks are now running! */
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/*
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* Hardware initialisation to generate the RTOS tick.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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XTime_PITClearInterrupt();
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XTime_FITClearInterrupt();
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XTime_WDTClearInterrupt();
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XTime_WDTDisableInterrupt();
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XTime_FITDisableInterrupt();
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XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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XTime_PITEnableAutoReload();
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XTime_PITSetInterval( ulInterval );
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XTime_PITEnableInterrupt();
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}
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/*-----------------------------------------------------------*/
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void vPortISRHandler( void *vNullDoNotUse )
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{
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unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
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portBASE_TYPE xInterruptNumber;
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XIntc_Config *pxInterruptController;
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XIntc_VectorTableEntry *pxTable;
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/* Get the configuration by using the device ID - in this case it is
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assumed that only one interrupt controller is being used. */
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pxInterruptController = &XIntc_ConfigTable[ XPAR_OPB_INTC_0_DEVICE_ID ];
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/* Which interrupts are pending? */
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ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
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for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
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{
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if( ulInterruptStatus & 0x01UL )
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{
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/* Clear the pending interrupt. */
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XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
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/* Call the registered handler. */
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pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
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pxTable->Handler( pxTable->CallBackRef );
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}
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/* Check the next interrupt. */
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ulInterruptMask <<= 0x01UL;
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ulInterruptStatus >>= 0x01UL;
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/* Have we serviced all interrupts? */
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if( ulInterruptStatus == 0UL )
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{
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break;
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}
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}
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}
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/*-----------------------------------------------------------*/
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void vPortSetupInterruptController( void )
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{
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extern void vPortISRWrapper( void );
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/* Perform all library calls necessary to initialise the exception table
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and interrupt controller. This assumes only one interrupt controller is in
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use. */
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XExc_mDisableExceptions( XEXC_NON_CRITICAL );
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XExc_Init();
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/* The library functions save the context - we then jump to a wrapper to
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save the stack into the TCB. The wrapper then calls the handler defined
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above. */
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XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
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XIntc_Initialize( &xInterruptController, XPAR_OPB_INTC_0_DEVICE_ID );
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XIntc_Start( &xInterruptController, XIN_REAL_MODE );
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
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{
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portBASE_TYPE xReturn = pdFAIL;
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/* This function is defined here so the scope of xInterruptController can
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remain within this file. */
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if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
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{
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XIntc_Enable( &xInterruptController, ucInterruptID );
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xReturn = pdPASS;
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}
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return xReturn;
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}
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/*
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FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 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
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||||
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.
|
||||
|
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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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||||
***************************************************************************
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||||
* *
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||||
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
|
||||
* and even write all or part of your application on your behalf. *
|
||||
* See http://www.OpenRTOS.com for details of the services we provide to *
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||||
* expedite your project. *
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||||
* *
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||||
***************************************************************************
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||||
***************************************************************************
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||||
|
||||
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.
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||||
*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the PPC405 port.
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*----------------------------------------------------------*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Library includes. */
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#include "xtime_l.h"
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#include "xintc.h"
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#include "xintc_i.h"
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/*-----------------------------------------------------------*/
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/* Definitions to set the initial MSR of each task. */
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#define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
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#define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
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#define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
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#define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE )
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/*-----------------------------------------------------------*/
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/*
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* Setup the system timer to generate the tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* The handler for the tick interrupt - defined in portasm.s.
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*/
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extern void vPortTickISR( void );
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/*
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* The handler for the yield function - defined in portasm.s.
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*/
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extern void vPortYield( void );
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/*
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* Function to start the scheduler running by starting the highest
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* priority task that has thus far been created.
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*/
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extern void vPortStartFirstTask( void );
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/*-----------------------------------------------------------*/
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/* Structure used to hold the state of the interrupt controller. */
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static XIntc xInterruptController;
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/*-----------------------------------------------------------*/
|
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/*
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* Initialise the stack of a task to look exactly as if the task had been
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* interrupted.
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*
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* See the header file portable.h.
|
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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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/* Place a known value at the bottom of the stack for debugging. */
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*pxTopOfStack = 0xDEADBEEF;
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pxTopOfStack--;
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/* EABI stack frame. */
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pxTopOfStack -= 28; /* R31 to R4 inclusive. */
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/* Parameters in R3. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack--;
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*pxTopOfStack = 0x02020202UL; /* R2. */
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pxTopOfStack--;
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/* R1 is the stack pointer so is omitted. */
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*pxTopOfStack = 0x10000001UL;; /* R0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* USPRG0. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* XER. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL; /* CTR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler; /* LR. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* SRR0. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_MSR;/* SRR1. */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) vPortEndScheduler;/* Next LR. */
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pxTopOfStack--;
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*pxTopOfStack = 0x00000000UL;/* Backchain. */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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prvSetupTimerInterrupt();
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XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
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vPortStartFirstTask();
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/* Should not get here as the tasks are now running! */
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
|
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|
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/*
|
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* Hardware initialisation to generate the RTOS tick.
|
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*/
|
||||
static void prvSetupTimerInterrupt( void )
|
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{
|
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const unsigned portLONG ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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XTime_PITClearInterrupt();
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XTime_FITClearInterrupt();
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XTime_WDTClearInterrupt();
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XTime_WDTDisableInterrupt();
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XTime_FITDisableInterrupt();
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XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
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XTime_PITEnableAutoReload();
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XTime_PITSetInterval( ulInterval );
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XTime_PITEnableInterrupt();
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}
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/*-----------------------------------------------------------*/
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void vPortISRHandler( void *vNullDoNotUse )
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{
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unsigned portLONG ulInterruptStatus, ulInterruptMask = 1UL;
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portBASE_TYPE xInterruptNumber;
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XIntc_Config *pxInterruptController;
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XIntc_VectorTableEntry *pxTable;
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|
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/* Get the configuration by using the device ID - in this case it is
|
||||
assumed that only one interrupt controller is being used. */
|
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pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
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|
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/* Which interrupts are pending? */
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ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
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for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
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{
|
||||
if( ulInterruptStatus & 0x01UL )
|
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{
|
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/* Clear the pending interrupt. */
|
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XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
|
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|
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/* Call the registered handler. */
|
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pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
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pxTable->Handler( pxTable->CallBackRef );
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}
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|
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/* Check the next interrupt. */
|
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ulInterruptMask <<= 0x01UL;
|
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ulInterruptStatus >>= 0x01UL;
|
||||
|
||||
/* Have we serviced all interrupts? */
|
||||
if( ulInterruptStatus == 0UL )
|
||||
{
|
||||
break;
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||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
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|
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void vPortSetupInterruptController( void )
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{
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extern void vPortISRWrapper( void );
|
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|
||||
/* Perform all library calls necessary to initialise the exception table
|
||||
and interrupt controller. This assumes only one interrupt controller is in
|
||||
use. */
|
||||
XExc_mDisableExceptions( XEXC_NON_CRITICAL );
|
||||
XExc_Init();
|
||||
|
||||
/* The library functions save the context - we then jump to a wrapper to
|
||||
save the stack into the TCB. The wrapper then calls the handler defined
|
||||
above. */
|
||||
XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
|
||||
XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
|
||||
XIntc_Start( &xInterruptController, XIN_REAL_MODE );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xPortInstallInterruptHandler( unsigned portCHAR ucInterruptID, XInterruptHandler pxHandler, void *pvCallBackRef )
|
||||
{
|
||||
portBASE_TYPE xReturn = pdFAIL;
|
||||
|
||||
/* This function is defined here so the scope of xInterruptController can
|
||||
remain within this file. */
|
||||
|
||||
if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
|
||||
{
|
||||
XIntc_Enable( &xInterruptController, ucInterruptID );
|
||||
xReturn = pdPASS;
|
||||
}
|
||||
|
||||
return xReturn;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue