mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-11-04 11:09:01 +01:00
149 lines
4.8 KiB
C
149 lines
4.8 KiB
C
/*
|
|
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
|
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
*/
|
|
|
|
/* Standard includes. */
|
|
#include <stdlib.h>
|
|
|
|
/* Kernel includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Machine includes */
|
|
#include <machine/counter.h>
|
|
#include <machine/ic.h>
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
|
|
#define portINITIAL_PSR ( 0x00020000 )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Perform any hardware configuration necessary to generate the tick interrupt.
|
|
*/
|
|
static void prvSetupTimerInterrupt( void );
|
|
/*-----------------------------------------------------------*/
|
|
|
|
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
|
TaskFunction_t pxCode,
|
|
void * pvParameters )
|
|
{
|
|
/* Make space on the stack for the context - this leaves a couple of spaces
|
|
* empty. */
|
|
pxTopOfStack -= 20;
|
|
|
|
/* Fill the registers with known values to assist debugging. */
|
|
pxTopOfStack[ 16 ] = 0;
|
|
pxTopOfStack[ 15 ] = portINITIAL_PSR;
|
|
pxTopOfStack[ 14 ] = ( uint32_t ) pxCode;
|
|
pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
|
|
pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */
|
|
pxTopOfStack[ 11 ] = 0x0d0d0d0dUL;
|
|
pxTopOfStack[ 10 ] = 0x0c0c0c0cUL;
|
|
pxTopOfStack[ 9 ] = 0x0b0b0b0bUL;
|
|
pxTopOfStack[ 8 ] = 0x0a0a0a0aUL;
|
|
pxTopOfStack[ 7 ] = 0x09090909UL;
|
|
pxTopOfStack[ 6 ] = 0x08080808UL;
|
|
pxTopOfStack[ 5 ] = 0x07070707UL;
|
|
pxTopOfStack[ 4 ] = 0x06060606UL;
|
|
pxTopOfStack[ 3 ] = 0x05050505UL;
|
|
pxTopOfStack[ 2 ] = 0x04040404UL;
|
|
pxTopOfStack[ 1 ] = 0x03030303UL;
|
|
pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters;
|
|
|
|
return pxTopOfStack;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
/* Set-up the timer interrupt. */
|
|
prvSetupTimerInterrupt();
|
|
|
|
/* Integrated Interrupt Controller: Enable all interrupts. */
|
|
ic->ien = 1;
|
|
|
|
/* Restore callee saved registers. */
|
|
portRESTORE_CONTEXT();
|
|
|
|
/* Should not get here. */
|
|
return 0;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvSetupTimerInterrupt( void )
|
|
{
|
|
/* Enable timer interrupts */
|
|
counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
|
|
counter1->value = counter1->reload;
|
|
counter1->mask = 1;
|
|
|
|
/* Set the IRQ Handler priority and enable it. */
|
|
irq[ IRQ_COUNTER1 ].ien = 1;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Trap 31 handler. */
|
|
void interrupt31_handler( void ) __attribute__( ( naked ) );
|
|
void interrupt31_handler( void )
|
|
{
|
|
portSAVE_CONTEXT();
|
|
__asm volatile ( "call vTaskSwitchContext" );
|
|
portRESTORE_CONTEXT();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvProcessTick( void ) __attribute__( ( noinline ) );
|
|
static void prvProcessTick( void )
|
|
{
|
|
if( xTaskIncrementTick() != pdFALSE )
|
|
{
|
|
vTaskSwitchContext();
|
|
}
|
|
|
|
/* Clear the Tick Interrupt. */
|
|
counter1->expired = 0;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Timer 1 interrupt handler, used for tick interrupt. */
|
|
void interrupt7_handler( void ) __attribute__( ( naked ) );
|
|
void interrupt7_handler( void )
|
|
{
|
|
portSAVE_CONTEXT();
|
|
prvProcessTick();
|
|
portRESTORE_CONTEXT();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* Nothing to do. Unlikely to want to end. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|