mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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de276eb023
* Fix spelling --------- Co-authored-by: Rahul Kar <118818625+kar-rahul-aws@users.noreply.github.com>
294 lines
10 KiB
C
294 lines
10 KiB
C
/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2020 Synopsys, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*
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* Implementation of functions defined in portable.h
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "FreeRTOSConfig.h"
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#include "arc/arc_exception.h"
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#include "arc/arc_timer.h"
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#include "board.h"
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#include "arc_freertos_exceptions.h"
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volatile unsigned int ulCriticalNesting = 999UL;
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volatile unsigned int context_switch_reqflg; /* task context switch request flag in exceptions and interrupts handling */
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/**
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* \var exc_nest_count
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* \brief the counter for exc/int processing, =0 no int/exc
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* >1 in int/exc processing
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* @}
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*/
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uint32_t exc_nest_count;
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/* --------------------------------------------------------------------------*/
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/**
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* @brief kernel tick interrupt handler of freertos
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*/
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/* ----------------------------------------------------------------------------*/
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static void vKernelTick( void * ptr )
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{
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/* clear timer interrupt */
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arc_timer_int_clear( BOARD_OS_TIMER_ID );
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board_timer_update( configTICK_RATE_HZ );
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if( xTaskIncrementTick() )
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{
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portYIELD_FROM_ISR(); /* need to make task switch */
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}
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}
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/* --------------------------------------------------------------------------*/
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/**
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* @brief setup freertos kernel tick
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*/
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/* ----------------------------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
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int_disable( BOARD_OS_TIMER_INTNO ); /* disable os timer interrupt */
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arc_timer_stop( BOARD_OS_TIMER_ID );
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arc_timer_start( BOARD_OS_TIMER_ID, TIMER_CTRL_IE | TIMER_CTRL_NH, cyc );
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int_handler_install( BOARD_OS_TIMER_INTNO, ( INT_HANDLER_T ) vKernelTick );
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int_pri_set( BOARD_OS_TIMER_INTNO, INT_PRI_MIN );
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int_enable( BOARD_OS_TIMER_INTNO );
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}
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/*
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* Setup the stack of a new task so it is ready to be placed under the
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* scheduler control. The registers have to be placed on the stack in
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* the order that the port expects to find them.
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*
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* For ARC, task context switch is implemented with the help of SWI exception
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* It's not efficient but simple.
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*
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*/
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StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
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TaskFunction_t pxCode,
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void * pvParameters )
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{
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/* To ensure asserts in tasks.c don't fail, although in this case the assert
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* is not really required. */
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pxTopOfStack--;
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/* Setup the initial stack of the task. The stack is set exactly as
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* expected by the portRESTORE_CONTEXT() macro. */
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/* When the task starts is will expect to find the function parameter in
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* R0. */
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*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) pxCode; /* function body */
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/* PC */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) start_r; /* dispatch return address */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING;
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return pxTopOfStack;
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}
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/* --------------------------------------------------------------------------*/
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/**
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* @brief start the freertos scheduler, go to the first task
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*
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* @returns
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*/
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/* ----------------------------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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/* Start the timer that generates the tick ISR. */
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prvSetupTimerInterrupt();
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start_dispatch();
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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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/**
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* @brief
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*/
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/* ----------------------------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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}
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/* --------------------------------------------------------------------------*/
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/**
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* @brief generate a task switch request in ISR
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*/
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/* ----------------------------------------------------------------------------*/
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void vPortYieldFromIsr( void )
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{
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unsigned int status32;
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status32 = cpu_lock_save();
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context_switch_reqflg = true;
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cpu_unlock_restore( status32 );
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}
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/* --------------------------------------------------------------------------*/
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/**
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* @brief
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*/
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/* ----------------------------------------------------------------------------*/
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void vPortYield( void )
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{
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unsigned int status32;
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status32 = cpu_lock_save();
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dispatch();
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cpu_unlock_restore( status32 );
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}
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/* --------------------------------------------------------------------------*/
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/**
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* @brief
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*/
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/* ----------------------------------------------------------------------------*/
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void vPortEndTask( void )
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{
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#if ( INCLUDE_vTaskDelete == 1 )
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vTaskDelete( NULL ); /* Delete task itself */
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#endif
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while( 1 ) /* Yield to other task */
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{
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vPortYield();
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}
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}
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#if ARC_FEATURE_STACK_CHECK
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/*
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* !!! Note !!!
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* This a trick!!!
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* It's a copy from task.c. We need to know the definition of TCB for the purpose of hardware
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* stack check. Pls don't forget to update it when FreeRTOS is updated.
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*/
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typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
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{
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volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
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#if ( portUSING_MPU_WRAPPERS == 1 )
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xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
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#endif
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ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
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ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
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UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
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StackType_t * pxStack; /*< Points to the start of the stack. */
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char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
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#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
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StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
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#endif
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#if ( portCRITICAL_NESTING_IN_TCB == 1 )
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UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
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#endif
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#if ( configUSE_TRACE_FACILITY == 1 )
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UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
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UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
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#endif
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#if ( configUSE_MUTEXES == 1 )
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UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
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UBaseType_t uxMutexesHeld;
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#endif
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#if ( configUSE_APPLICATION_TASK_TAG == 1 )
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TaskHookFunction_t pxTaskTag;
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#endif
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#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
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void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
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#endif
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
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#endif
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#if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
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configTLS_BLOCK_TYPE xTLSBlock; /*< Memory block used as Thread Local Storage (TLS) Block for the task. */
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#endif
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#if ( configUSE_TASK_NOTIFICATIONS == 1 )
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volatile uint32_t ulNotifiedValue;
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volatile uint8_t ucNotifyState;
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#endif
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/* See the comments above the definition of
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* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
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#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
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uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
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#endif
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#if ( INCLUDE_xTaskAbortDelay == 1 )
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uint8_t ucDelayAborted;
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#endif
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#if ( configUSE_POSIX_ERRNO == 1 )
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int iTaskErrno;
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#endif
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} tskTCB;
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void vPortSetStackCheck( TaskHandle_t old,
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TaskHandle_t new )
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{
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if( new != NULL )
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{
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#if ARC_FEATURE_SEC_PRESENT
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arc_aux_write( AUX_S_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) );
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arc_aux_write( AUX_S_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) );
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#else
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arc_aux_write( AUX_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) );
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arc_aux_write( AUX_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) );
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#endif
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}
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}
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#endif /* if ARC_FEATURE_STACK_CHECK */
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