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/*
FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 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 (version 2) as published
by the Free Software Foundation and modified by the FreeRTOS exception.
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 is included to allow you 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.
***************************************************************************
* *
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
* *
* This is a concise, step by step, 'hands on' guide that describes both *
* general multitasking concepts and FreeRTOS specifics. It presents and *
* explains numerous examples that are written using the FreeRTOS API. *
* Full source code for all the examples is provided in an accompanying *
* .zip file. *
* *
***************************************************************************
1 tab == 4 spaces!
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.
*/
/*
Change from V4.2.1:
+ Introduced usage of configKERNEL_INTERRUPT_PRIORITY macro to set the
interrupt priority used by the kernel.
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the ARM CM3 port.
*----------------------------------------------------------*/
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned portLONG *) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned portLONG *) 0xe000e014 )
#define portNVIC_INT_CTRL ( ( volatile unsigned portLONG *) 0xe000ed04 )
#define portNVIC_SYSPRI2 ( ( volatile unsigned portLONG *) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK 0x00000004
#define portNVIC_SYSTICK_INT 0x00000002
#define portNVIC_SYSTICK_ENABLE 0x00000001
#define portNVIC_PENDSVSET 0x10000000
#define portNVIC_PENDSV_PRI ( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
#define portNVIC_SYSTICK_PRI ( ( ( unsigned portLONG ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR ( 0x01000000 )
/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
defined. The value 255 should also ensure backward compatibility.
FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
#ifndef configKERNEL_INTERRUPT_PRIORITY
#define configKERNEL_INTERRUPT_PRIORITY 0
#endif
/* Each task maintains its own interrupt status in the critical nesting
variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
/*
* Setup the timer to generate the tick interrupts.
*/
static void prvSetupTimerInterrupt( void );
/*
* Exception handlers.
*/
void xPortSysTickHandler( void );
/*
* Start first task is a separate function so it can be tested in isolation.
*/
extern void vPortStartFirstTask( void );
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
/* Simulate the stack frame as it would be created by a context switch
interrupt. */
*pxTopOfStack = portINITIAL_XPSR; /* xPSR */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
pxTopOfStack--;
*pxTopOfStack = 0; /* LR */
pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
portBASE_TYPE xPortStartScheduler( void )
{
/* Make PendSV and SysTick the lowest priority interrupts. */
*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
/* Start the timer that generates the tick ISR. Interrupts are disabled
here already. */
prvSetupTimerInterrupt();
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;
/* Start the first task. */
vPortStartFirstTask();
/* Should not get here! */
return 0;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* It is unlikely that the CM3 port will require this function as there
is nothing to return to. */
}
/*-----------------------------------------------------------*/
void vPortYieldFromISR( void )
{
/* Set a PendSV to request a context switch. */
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
}
/*-----------------------------------------------------------*/
void vPortExitCritical( void )
{
uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{
portENABLE_INTERRUPTS();
}
}
/*-----------------------------------------------------------*/
void xPortSysTickHandler( void )
{
unsigned portLONG ulDummy;
/* If using preemption, also force a context switch. */
#if configUSE_PREEMPTION == 1
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
#endif
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
{
vTaskIncrementTick();
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}
/*-----------------------------------------------------------*/
/*
* Setup the systick timer to generate the tick interrupts at the required
* frequency.
*/
void prvSetupTimerInterrupt( void )
{
/* Configure SysTick to interrupt at the requested rate. */
*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/
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