New demo being added - work in progress.

git-svn-id: https://freertos.svn.sourceforge.net/svnroot/freertos/trunk@587 1d2547de-c912-0410-9cb9-b8ca96c0e9e2

4 files changed, 547 insertions, 0 deletions

diff --git a/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h b/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h
new file mode 100644
index 00000000..4a32f397
--- /dev/null
+++ b/Source/portable/IAR/AtmelSAM9XE/ISR_Support.h
@@ -0,0 +1,78 @@
+	EXTERN pxCurrentTCB

+	EXTERN ulCriticalNesting

+

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+; Context save and restore macro definitions

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+

+portSAVE_CONTEXT MACRO

+

+	; Push R0 as we are going to use the register. 					

+	STMDB	SP!, {R0}

+

+	; Set R0 to point to the task stack pointer. 					

+	STMDB	SP, {SP}^

+	NOP

+	SUB		SP, SP, #4

+	LDMIA	SP!, {R0}

+

+	; Push the return address onto the stack. 						

+	STMDB	R0!, {LR}

+

+	; Now we have saved LR we can use it instead of R0. 				

+	MOV		LR, R0

+

+	; Pop R0 so we can save it onto the system mode stack. 			

+	LDMIA	SP!, {R0}

+

+	; Push all the system mode registers onto the task stack. 		

+	STMDB	LR, {R0-LR}^

+	NOP

+	SUB		LR, LR, #60

+

+	; Push the SPSR onto the task stack. 							

+	MRS		R0, SPSR

+	STMDB	LR!, {R0}

+

+	LDR		R0, =ulCriticalNesting 

+	LDR		R0, [R0]

+	STMDB	LR!, {R0}

+

+	; Store the new top of stack for the task. 						

+	LDR		R1, =pxCurrentTCB

+	LDR		R0, [R1]

+	STR		LR, [R0]

+

+	ENDM

+

+

+portRESTORE_CONTEXT MACRO

+

+	; Set the LR to the task stack. 									

+	LDR		R1, =pxCurrentTCB

+	LDR		R0, [R1]

+	LDR		LR, [R0]

+

+	; The critical nesting depth is the first item on the stack. 	

+	; Load it into the ulCriticalNesting variable. 					

+	LDR		R0, =ulCriticalNesting

+	LDMFD	LR!, {R1}

+	STR		R1, [R0]

+

+	; Get the SPSR from the stack. 									

+	LDMFD	LR!, {R0}

+	MSR		SPSR_cxsf, R0

+

+	; Restore all system mode registers for the task. 				

+	LDMFD	LR, {R0-R14}^

+	NOP

+

+	; Restore the return address. 									

+	LDR		LR, [LR, #+60]

+

+	; And return - correcting the offset in the LR to obtain the 	

+	; correct address. 												

+	SUBS	PC, LR, #4

+

+	ENDM

+

diff --git a/Source/portable/IAR/AtmelSAM9XE/port.c b/Source/portable/IAR/AtmelSAM9XE/port.c
new file mode 100644
index 00000000..0004c97b
--- /dev/null
+++ b/Source/portable/IAR/AtmelSAM9XE/port.c
@@ -0,0 +1,280 @@
+/*

+	FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.

+

+	This file is part of the FreeRTOS.org distribution.

+

+	FreeRTOS.org is free software; you can redistribute it and/or modify

+	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.

+

+	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.

+

+    ***************************************************************************

+    ***************************************************************************

+    *                                                                         *

+    * 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   *

+    * expedite your project.                                                  *

+    *                                                                         *

+    ***************************************************************************

+    ***************************************************************************

+

+	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.

+*/

+

+/*-----------------------------------------------------------

+ * Implementation of functions defined in portable.h for the Atmel ARM7 port.

+ *----------------------------------------------------------*/

+

+

+/* Standard includes. */

+#include <stdlib.h>

+

+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+

+/* Hardware includes. */

+#include <board.h>

+#include <pio/pio.h>

+#include <pio/pio_it.h>

+#include <pit/pit.h>

+#include <aic/aic.h>

+#include <tc/tc.h>

+#include <utility/led.h>

+#include <utility/trace.h>

+

+/*-----------------------------------------------------------*/

+

+/* Constants required to setup the initial stack. */

+#define portINITIAL_SPSR				( ( portSTACK_TYPE ) 0x3f ) /* System mode, THUMB mode, interrupts enabled. */

+#define portINSTRUCTION_SIZE			( ( portSTACK_TYPE ) 4 )

+

+/* Constants required to setup the PIT. */

+#define port1MHz_IN_Hz 					( 1000000ul )

+#define port1SECOND_IN_uS				( 1000000ul )

+

+/* Constants required to handle critical sections. */

+#define portNO_CRITICAL_NESTING 		( ( unsigned portLONG ) 0 )

+

+

+#define portINT_LEVEL_SENSITIVE  0

+#define portPIT_ENABLE      	( ( unsigned portSHORT ) 0x1 << 24 )

+#define portPIT_INT_ENABLE     	( ( unsigned portSHORT ) 0x1 << 25 )

+/*-----------------------------------------------------------*/

+

+/* Setup the PIT to generate the tick interrupts. */

+static void prvSetupTimerInterrupt( void );

+

+/* ulCriticalNesting will get set to zero when the first task starts.  It

+cannot be initialised to 0 as this will cause interrupts to be enabled

+during the kernel initialisation process. */

+unsigned portLONG ulCriticalNesting = ( unsigned portLONG ) 9999;

+

+/*-----------------------------------------------------------*/

+

+/*

+ * Initialise the stack of a task to look exactly as if a call to

+ * portSAVE_CONTEXT had been called.

+ *

+ * See header file for description.

+ */

+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )

+{

+portSTACK_TYPE *pxOriginalTOS;

+

+	pxOriginalTOS = pxTopOfStack;

+

+	/* Setup the initial stack of the task.  The stack is set exactly as

+	expected by the portRESTORE_CONTEXT() macro. */

+

+	/* First on the stack is the return address - which in this case is the

+	start of the task.  The offset is added to make the return address appear

+	as it would within an IRQ ISR. */

+	*pxTopOfStack = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;		

+	pxTopOfStack--;

+

+	*pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaaaa;	/* R14 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x12121212;	/* R12 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;	/* R11 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x10101010;	/* R10 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x09090909;	/* R9 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x08080808;	/* R8 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x07070707;	/* R7 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x06060606;	/* R6 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x05050505;	/* R5 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x04040404;	/* R4 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x03030303;	/* R3 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x02020202;	/* R2 */

+	pxTopOfStack--;	

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x01010101;	/* R1 */

+	pxTopOfStack--;	

+

+	/* When the task starts is will expect to find the function parameter in

+	R0. */

+	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */

+	pxTopOfStack--;

+

+	/* The status register is set for system mode, with interrupts enabled. */

+	*pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;

+	pxTopOfStack--;

+

+	/* Interrupt flags cannot always be stored on the stack and will

+	instead be stored in a variable, which is then saved as part of the

+	tasks context. */

+	*pxTopOfStack = portNO_CRITICAL_NESTING;

+

+	return pxTopOfStack;	

+}

+/*-----------------------------------------------------------*/

+

+portBASE_TYPE xPortStartScheduler( void )

+{

+extern void vPortStartFirstTask( void );

+

+	/* Start the timer that generates the tick ISR.  Interrupts are disabled

+	here already. */

+	prvSetupTimerInterrupt();

+

+	/* Start the first task. */

+	vPortStartFirstTask();	

+

+	/* Should not get here! */

+	return 0;

+}

+/*-----------------------------------------------------------*/

+

+void vPortEndScheduler( void )

+{

+	/* It is unlikely that the ARM port will require this function as there

+	is nothing to return to.  */

+}

+/*-----------------------------------------------------------*/

+

+#if configUSE_PREEMPTION == 0

+

+	/* The cooperative scheduler requires a normal IRQ service routine to

+	simply increment the system tick. */

+	static __arm __irq void vPortNonPreemptiveTick( void );

+	static __arm __irq void vPortNonPreemptiveTick( void )

+	{

+		unsigned portLONG ulDummy;

+		

+		/* Increment the tick count - which may wake some tasks but as the

+		preemptive scheduler is not being used any woken task is not given

+		processor time no matter what its priority. */

+		vTaskIncrementTick();

+		

+		/* Clear the PIT interrupt. */

+		ulDummy = AT91C_BASE_PITC->PITC_PIVR;

+		

+		/* End the interrupt in the AIC. */

+		AT91C_BASE_AIC->AIC_EOICR = ulDummy;

+	}

+

+#else

+

+	/* Currently the IAR port requires the preemptive tick function to be

+	defined in an asm file. */

+

+#endif

+

+/*-----------------------------------------------------------*/

+

+static void prvSetupTimerInterrupt( void )

+{

+const unsigned portLONG ulPeriodIn_uS = ( 1 / configTICK_RATE_HZ ) * port1SECOND_IN_uS;

+

+	/* Setup the PIT for the required frequency. */

+	PIT_Init( ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz );

+	

+	/* Setup the PIT interrupt. */

+	AIC_DisableIT( AT91C_ID_SYS );

+

+	#if configUSE_PREEMPTION == 0	

+		AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortNonPreemptiveTick );

+	#else

+		extern void ( vPortPreemptiveTick )( void );

+		AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortPreemptiveTick );		

+	#endif

+

+	AIC_EnableIT( AT91C_ID_SYS );

+	PIT_EnableIT();

+	

+	/* Enable the PIT itself. */

+	PIT_Enable();

+}

+/*-----------------------------------------------------------*/

+

+void vPortEnterCritical( void )

+{

+	/* Disable interrupts first! */

+	__disable_irq();

+

+	/* Now interrupts are disabled ulCriticalNesting can be accessed

+	directly.  Increment ulCriticalNesting to keep a count of how many times

+	portENTER_CRITICAL() has been called. */

+	ulCriticalNesting++;

+}

+/*-----------------------------------------------------------*/

+

+void vPortExitCritical( void )

+{

+	if( ulCriticalNesting > portNO_CRITICAL_NESTING )

+	{

+		/* Decrement the nesting count as we are leaving a critical section. */

+		ulCriticalNesting--;

+

+		/* If the nesting level has reached zero then interrupts should be

+		re-enabled. */

+		if( ulCriticalNesting == portNO_CRITICAL_NESTING )

+		{

+			__enable_irq();

+		}

+	}

+}

+/*-----------------------------------------------------------*/

+

+

+

+

+

+

diff --git a/Source/portable/IAR/AtmelSAM9XE/portasm.s79 b/Source/portable/IAR/AtmelSAM9XE/portasm.s79
new file mode 100644
index 00000000..da118fb5
--- /dev/null
+++ b/Source/portable/IAR/AtmelSAM9XE/portasm.s79
@@ -0,0 +1,58 @@
+		RSEG ICODE:CODE

+		CODE32

+

+	EXTERN vTaskSwitchContext

+	EXTERN vTaskIncrementTick

+

+	PUBLIC vPortYieldProcessor

+	PUBLIC vPortPreemptiveTick

+	PUBLIC vPortStartFirstTask

+

+#include "ISR_Support.h"

+

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+; Starting the first task is just a matter of restoring the context that

+; was created by pxPortInitialiseStack().

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+vPortStartFirstTask:

+	portRESTORE_CONTEXT

+

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+; Manual context switch function.  This is the SWI hander.

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+vPortYieldProcessor:

+	ADD		LR, LR, #4			; Add 4 to the LR to make the LR appear exactly

+								; as if the context was saved during and IRQ

+								; handler.

+								

+	portSAVE_CONTEXT			; Save the context of the current task...

+	LDR R0, =vTaskSwitchContext	; before selecting the next task to execute.

+	mov     lr, pc

+	BX R0

+	portRESTORE_CONTEXT			; Restore the context of the selected task.

+

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+; Preemptive context switch function.  This will only ever get installed if

+; portUSE_PREEMPTION is set to 1 in portmacro.h.

+;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

+vPortPreemptiveTick:

+	portSAVE_CONTEXT			; Save the context of the current task.

+

+	LDR R0, =vTaskIncrementTick ; Increment the tick count - this may wake a task.

+	mov lr, pc

+	BX R0

+	LDR R0, =vTaskSwitchContext ; Select the next task to execute.

+	mov lr, pc

+	BX R0

+#if 0

+	LDR	R14, =AT91C_BASE_PITC	; Clear the PIT interrupt

+	LDR	R0, [R14, #PITC_PIVR ]

+

+	LDR R14, =AT91C_BASE_AIC	; Mark the End of Interrupt on the AIC

+    STR	R14, [R14, #AIC_EOICR]

+#endif

+	portRESTORE_CONTEXT			; Restore the context of the selected task.

+

+

+	END

+

diff --git a/Source/portable/IAR/AtmelSAM9XE/portmacro.h b/Source/portable/IAR/AtmelSAM9XE/portmacro.h
new file mode 100644
index 00000000..089ad8e6
--- /dev/null
+++ b/Source/portable/IAR/AtmelSAM9XE/portmacro.h
@@ -0,0 +1,131 @@
+/*

+	FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.

+

+	This file is part of the FreeRTOS.org distribution.

+

+	FreeRTOS.org is free software; you can redistribute it and/or modify

+	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.

+

+	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.

+

+    ***************************************************************************

+    ***************************************************************************

+    *                                                                         *

+    * 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   *

+    * expedite your project.                                                  *

+    *                                                                         *

+    ***************************************************************************

+    ***************************************************************************

+

+	Please ensure to read the configuration and relevant port sections of the

+	online documentation.

+

+	http://www.FreeRTOS.org - Documentation, latest information, license and

+	contact details.

+

+	http://www.SafeRTOS.com - A version that is certified for use in safety

+	critical systems.

+

+	http://www.OpenRTOS.com - Commercial support, development, porting,

+	licensing and training services.

+*/

+

+

+#ifndef PORTMACRO_H

+#define PORTMACRO_H

+

+#include <intrinsics.h>

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+

+/*-----------------------------------------------------------

+ * Port specific definitions.

+ *

+ * The settings in this file configure FreeRTOS correctly for the

+ * given hardware and compiler.

+ *

+ * These settings should not be altered.

+ *-----------------------------------------------------------

+ */

+

+/* Type definitions. */

+#define portCHAR		char

+#define portFLOAT		float

+#define portDOUBLE		double

+#define portLONG		long

+#define portSHORT		short

+#define portSTACK_TYPE	unsigned portLONG

+#define portBASE_TYPE	portLONG

+

+#if( configUSE_16_BIT_TICKS == 1 )

+	typedef unsigned portSHORT portTickType;

+	#define portMAX_DELAY ( portTickType ) 0xffff

+#else

+	typedef unsigned portLONG portTickType;

+	#define portMAX_DELAY ( portTickType ) 0xffffffff

+#endif

+/*-----------------------------------------------------------*/	

+

+/* Hardware specifics. */

+#define portSTACK_GROWTH			( -1 )

+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		

+#define portBYTE_ALIGNMENT			8

+#define portYIELD()					asm ( "SWI 0" )

+#define portNOP()					asm ( "NOP" )

+/*-----------------------------------------------------------*/	

+

+/* Critical section handling. */

+__arm __interwork void vPortDisableInterruptsFromThumb( void );

+__arm __interwork void vPortEnableInterruptsFromThumb( void );

+__arm __interwork void vPortEnterCritical( void );

+__arm __interwork void vPortExitCritical( void );

+

+#define portDISABLE_INTERRUPTS()	__disable_irq()

+#define portENABLE_INTERRUPTS()		__enable_irq()

+#define portENTER_CRITICAL()		vPortEnterCritical()

+#define portEXIT_CRITICAL()			vPortExitCritical()

+/*-----------------------------------------------------------*/	

+

+/* Task utilities. */

+#define portEND_SWITCHING_ISR( xSwitchRequired ) 	\

+{													\

+extern void vTaskSwitchContext( void );				\

+													\

+	if( xSwitchRequired ) 							\

+	{												\

+		vTaskSwitchContext();						\

+	}												\

+}

+/*-----------------------------------------------------------*/	

+

+

+/* Task function macros as described on the FreeRTOS.org WEB site. */

+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )

+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )

+

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* PORTMACRO_H */

+

+