Copy Tasking CM4F files from the project directory into their correct location in the FreeRTOS/Source directory.
Richard Barry
13 years ago
parent
248abca109
commit
dfa0c20530
@ -0,0 +1,234 @@
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/*
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FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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||||
* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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||||
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This file is part of the FreeRTOS distribution.
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||||
|
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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 modification 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. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
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.
|
||||
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||||
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 ARM CM4F 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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/* Constants required to manipulate the NVIC. */
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#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )
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#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )
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#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 )
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#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 0xe000ed20 )
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#define portNVIC_SYSTICK_CLK 0x00000004
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#define portNVIC_SYSTICK_INT 0x00000002
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#define portNVIC_SYSTICK_ENABLE 0x00000001
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#define portNVIC_PENDSVSET 0x10000000
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#define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
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#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
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/* Constants required to manipulate the VFP. */
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#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
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#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
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/* Constants required to set up the initial stack. */
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#define portINITIAL_XPSR ( 0x01000000 )
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#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
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/* The priority used by the kernel is assigned to a variable to make access
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from inline assembler easier. */
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const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
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/* Each task maintains its own interrupt status in the critical nesting
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variable. */
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static unsigned long ulCriticalNesting = 0xaaaaaaaaUL;
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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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* Exception handlers.
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*/
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void SysTick_Handler( void );
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/*
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* Functions defined in port_asm.asm.
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*/
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extern void vPortEnableVFP( void );
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extern void vPortStartFirstTask( void );
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/* This exists purely to allow the const to be used from within the
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port_asm.asm assembly file. */
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const unsigned long ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY;
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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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/* Simulate the stack frame as it would be created by a context switch
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interrupt. */
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/* Offset added to account for the way the MCU uses the stack on entry/exit
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of interrupts, and to ensure alignment. */
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pxTopOfStack -= 2;
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*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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pxTopOfStack--;
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*pxTopOfStack = 0; /* LR */
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/* Save code space by skipping register initialisation. */
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pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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/* A save method is being used that requiers each task to maintain its
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own exec return value. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_EXEC_RETURN;
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pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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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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/* Make PendSV and SysTick the lowest priority interrupts. */
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*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
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*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
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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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/* Initialise the critical nesting count ready for the first task. */
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ulCriticalNesting = 0;
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/* Ensure the VFP is enabled - it should be anyway. */
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vPortEnableVFP();
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/* Lazy save always. */
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*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
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/* Start the first task. */
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vPortStartFirstTask();
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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 CM4F 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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void vPortYieldFromISR( void )
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{
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/* Set a PendSV to request a context switch. */
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*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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portDISABLE_INTERRUPTS();
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ulCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical( void )
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{
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ulCriticalNesting--;
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if( ulCriticalNesting == 0 )
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{
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portENABLE_INTERRUPTS();
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}
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}
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/*-----------------------------------------------------------*/
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void SysTick_Handler( void )
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{
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unsigned long ulDummy;
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/* If using preemption, also force a context switch. */
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#if configUSE_PREEMPTION == 1
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*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
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#endif
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ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
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{
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vTaskIncrementTick();
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
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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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/* Configure SysTick to interrupt at the requested rate. */
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*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,168 @@
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;/*
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; FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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;
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;
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; ***************************************************************************
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; * *
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; * FreeRTOS tutorial books are available in pdf and paperback. *
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; * Complete, revised, and edited pdf reference manuals are also *
|
||||
; * available. *
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; * *
|
||||
; * Purchasing FreeRTOS documentation will not only help you, by *
|
||||
; * ensuring you get running as quickly as possible and with an *
|
||||
; * in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
; * the FreeRTOS project to continue with its mission of providing *
|
||||
; * professional grade, cross platform, de facto standard solutions *
|
||||
; * for microcontrollers - completely free of charge! *
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; * *
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; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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; * *
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; * Thank you for using FreeRTOS, and thank you for your support! *
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; * *
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; ***************************************************************************
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;
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;
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; This file is part of the FreeRTOS distribution.
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;
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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
|
||||
; Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
; >>>NOTE<<< The modification 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. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
; can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
; by writing to Richard Barry, contact details for whom are available on the
|
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; FreeRTOS WEB site.
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||||
;
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; 1 tab == 4 spaces!
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;
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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
|
||||
; critical systems.
|
||||
;
|
||||
; http://www.OpenRTOS.com - Commercial support, development, porting,
|
||||
; licensing and training services.
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;*/
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.extern pxCurrentTCB
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.extern vTaskSwitchContext
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.extern ulMaxSyscallInterruptPriorityConst
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.global PendSV_Handler
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.global SVC_Handler
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.global vPortStartFirstTask
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.global vPortEnableVFP
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;-----------------------------------------------------------
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.section .text
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.thumb
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.align 4
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PendSV_Handler: .type func
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mrs r0, psp
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;Get the location of the current TCB.
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ldr.w r3, =pxCurrentTCB
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ldr r2, [r3]
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;Is the task using the FPU context? If so, push high vfp registers.
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tst r14, #0x10
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it eq
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vstmdbeq r0!, {s16-s31}
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;Save the core registers.
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stmdb r0!, {r4-r11, r14}
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;Save the new top of stack into the first member of the TCB.
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str r0, [r2]
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stmdb sp!, {r3, r14}
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ldr.w r0, =ulMaxSyscallInterruptPriorityConst
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msr basepri, r0
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bl vTaskSwitchContext
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mov r0, #0
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msr basepri, r0
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ldmia sp!, {r3, r14}
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;The first item in pxCurrentTCB is the task top of stack.
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ldr r1, [r3]
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ldr r0, [r1]
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;Pop the core registers.
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ldmia r0!, {r4-r11, r14}
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;Is the task using the FPU context? If so, pop the high vfp registers too.
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tst r14, #0x10
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it eq
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vldmiaeq r0!, {s16-s31}
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msr psp, r0
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bx r14
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.size PendSV_Handler, $-PendSV_Handler
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.endsec
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;-----------------------------------------------------------
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.section .text
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.thumb
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.align 4
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SVC_Handler: .type func
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;Get the location of the current TCB.
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ldr.w r3, =pxCurrentTCB
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ldr r1, [r3]
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ldr r0, [r1]
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;Pop the core registers.
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ldmia r0!, {r4-r11, r14}
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msr psp, r0
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mov r0, #0
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msr basepri, r0
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bx r14
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.size SVC_Handler, $-SVC_Handler
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.endsec
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;-----------------------------------------------------------
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.section .text
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.thumb
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.align 4
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vPortStartFirstTask .type func
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;Use the NVIC offset register to locate the stack.
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ldr.w r0, =0xE000ED08
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ldr r0, [r0]
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ldr r0, [r0]
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;Set the msp back to the start of the stack.
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msr msp, r0
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;Call SVC to start the first task.
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cpsie i
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svc 0
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.size vPortStartFirstTask, $-vPortStartFirstTask
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.endsec
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;-----------------------------------------------------------
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.section .text
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.thumb
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.align 4
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vPortEnableVFP .type func
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;The FPU enable bits are in the CPACR.
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ldr.w r0, =0xE000ED88
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ldr r1, [r0]
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;Enable CP10 and CP11 coprocessors, then save back.
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orr r1, r1, #( 0xf << 20 )
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str r1, [r0]
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bx r14
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.size vPortEnableVFP, $-vPortEnableVFP
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.endsec
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.end
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@ -0,0 +1,144 @@
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/*
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FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 modification 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. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
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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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*-----------------------------------------------------------
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* Port specific definitions.
|
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*
|
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* The settings in this file configure FreeRTOS correctly for the
|
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* given hardware and compiler.
|
||||
*
|
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* These settings should not be altered.
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*-----------------------------------------------------------
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*/
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/* Type definitions. */
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#define portCHAR char
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#define portFLOAT float
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#define portDOUBLE double
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#define portLONG long
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#define portSHORT short
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#define portSTACK_TYPE unsigned portLONG
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#define portBASE_TYPE long
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|
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#if( configUSE_16_BIT_TICKS == 1 )
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typedef unsigned portSHORT portTickType;
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#define portMAX_DELAY ( portTickType ) 0xffff
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#else
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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 8
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Scheduler utilities. */
|
||||
extern void vPortYieldFromISR( void );
|
||||
|
||||
#define portYIELD() vPortYieldFromISR()
|
||||
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
/* Critical section management. */
|
||||
|
||||
/*
|
||||
* Set basepri to portMAX_SYSCALL_INTERRUPT_PRIORITY without effecting other
|
||||
* registers. r0 is clobbered.
|
||||
*/
|
||||
#define portSET_INTERRUPT_MASK() __set_BASEPRI( configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
|
||||
/*
|
||||
* Set basepri back to 0 without effective other registers.
|
||||
* r0 is clobbered.
|
||||
*/
|
||||
#define portCLEAR_INTERRUPT_MASK() __set_BASEPRI( 0 )
|
||||
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x
|
||||
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
|
||||
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
|
||||
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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 )
|
||||
|
||||
#define portNOP()
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Loading…
Reference in New Issue