mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-14 12:26:06 +01:00
464 lines
15 KiB
C
464 lines
15 KiB
C
/*
|
|
FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd.
|
|
All rights reserved
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that has become a de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly and support the FreeRTOS *
|
|
* project by purchasing a FreeRTOS tutorial book, reference *
|
|
* manual, or both from: http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* Thank you! *
|
|
* *
|
|
***************************************************************************
|
|
|
|
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. Full license text is available from the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
1 tab == 4 spaces!
|
|
|
|
***************************************************************************
|
|
* *
|
|
* Having a problem? Start by reading the FAQ "My application does *
|
|
* not run, what could be wrong?" *
|
|
* *
|
|
* http://www.FreeRTOS.org/FAQHelp.html *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org - Documentation, books, training, latest versions,
|
|
license and Real Time Engineers Ltd. contact details.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
|
|
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
/*
|
|
|
|
Changes from V2.6.0
|
|
|
|
+ AVR port - Replaced the inb() and outb() functions with direct memory
|
|
access. This allows the port to be built with the 20050414 build of
|
|
WinAVR.
|
|
*/
|
|
|
|
#include <stdlib.h>
|
|
#include <avr/interrupt.h>
|
|
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/*-----------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for the AVR port.
|
|
*----------------------------------------------------------*/
|
|
|
|
/* Start tasks with interrupts enables. */
|
|
#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 )
|
|
|
|
/* Hardware constants for timer 1. */
|
|
#define portCLEAR_COUNTER_ON_MATCH ( ( uint8_t ) 0x08 )
|
|
#define portPRESCALE_64 ( ( uint8_t ) 0x03 )
|
|
#define portCLOCK_PRESCALER ( ( uint32_t ) 64 )
|
|
#define portCOMPARE_MATCH_A_INTERRUPT_ENABLE ( ( uint8_t ) 0x02 )
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* We require the address of the pxCurrentTCB variable, but don't want to know
|
|
any details of its type. */
|
|
typedef void TCB_t;
|
|
extern volatile TCB_t * volatile pxCurrentTCB;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Macro to save all the general purpose registers, the save the stack pointer
|
|
* into the TCB.
|
|
*
|
|
* The first thing we do is save the flags then disable interrupts. This is to
|
|
* guard our stack against having a context switch interrupt after we have already
|
|
* pushed the registers onto the stack - causing the 32 registers to be on the
|
|
* stack twice.
|
|
*
|
|
* r1 is set to zero as the compiler expects it to be thus, however some
|
|
* of the math routines make use of R1.
|
|
*
|
|
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
|
|
* so we need not worry about reading/writing to the stack pointer.
|
|
*/
|
|
|
|
#define portSAVE_CONTEXT() \
|
|
asm volatile ( "push r0 \n\t" \
|
|
"in r0, __SREG__ \n\t" \
|
|
"cli \n\t" \
|
|
"push r0 \n\t" \
|
|
"push r1 \n\t" \
|
|
"clr r1 \n\t" \
|
|
"push r2 \n\t" \
|
|
"push r3 \n\t" \
|
|
"push r4 \n\t" \
|
|
"push r5 \n\t" \
|
|
"push r6 \n\t" \
|
|
"push r7 \n\t" \
|
|
"push r8 \n\t" \
|
|
"push r9 \n\t" \
|
|
"push r10 \n\t" \
|
|
"push r11 \n\t" \
|
|
"push r12 \n\t" \
|
|
"push r13 \n\t" \
|
|
"push r14 \n\t" \
|
|
"push r15 \n\t" \
|
|
"push r16 \n\t" \
|
|
"push r17 \n\t" \
|
|
"push r18 \n\t" \
|
|
"push r19 \n\t" \
|
|
"push r20 \n\t" \
|
|
"push r21 \n\t" \
|
|
"push r22 \n\t" \
|
|
"push r23 \n\t" \
|
|
"push r24 \n\t" \
|
|
"push r25 \n\t" \
|
|
"push r26 \n\t" \
|
|
"push r27 \n\t" \
|
|
"push r28 \n\t" \
|
|
"push r29 \n\t" \
|
|
"push r30 \n\t" \
|
|
"push r31 \n\t" \
|
|
"lds r26, pxCurrentTCB \n\t" \
|
|
"lds r27, pxCurrentTCB + 1 \n\t" \
|
|
"in r0, 0x3d \n\t" \
|
|
"st x+, r0 \n\t" \
|
|
"in r0, 0x3e \n\t" \
|
|
"st x+, r0 \n\t" \
|
|
);
|
|
|
|
/*
|
|
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
|
* the context save so we can write to the stack pointer.
|
|
*/
|
|
|
|
#define portRESTORE_CONTEXT() \
|
|
asm volatile ( "lds r26, pxCurrentTCB \n\t" \
|
|
"lds r27, pxCurrentTCB + 1 \n\t" \
|
|
"ld r28, x+ \n\t" \
|
|
"out __SP_L__, r28 \n\t" \
|
|
"ld r29, x+ \n\t" \
|
|
"out __SP_H__, r29 \n\t" \
|
|
"pop r31 \n\t" \
|
|
"pop r30 \n\t" \
|
|
"pop r29 \n\t" \
|
|
"pop r28 \n\t" \
|
|
"pop r27 \n\t" \
|
|
"pop r26 \n\t" \
|
|
"pop r25 \n\t" \
|
|
"pop r24 \n\t" \
|
|
"pop r23 \n\t" \
|
|
"pop r22 \n\t" \
|
|
"pop r21 \n\t" \
|
|
"pop r20 \n\t" \
|
|
"pop r19 \n\t" \
|
|
"pop r18 \n\t" \
|
|
"pop r17 \n\t" \
|
|
"pop r16 \n\t" \
|
|
"pop r15 \n\t" \
|
|
"pop r14 \n\t" \
|
|
"pop r13 \n\t" \
|
|
"pop r12 \n\t" \
|
|
"pop r11 \n\t" \
|
|
"pop r10 \n\t" \
|
|
"pop r9 \n\t" \
|
|
"pop r8 \n\t" \
|
|
"pop r7 \n\t" \
|
|
"pop r6 \n\t" \
|
|
"pop r5 \n\t" \
|
|
"pop r4 \n\t" \
|
|
"pop r3 \n\t" \
|
|
"pop r2 \n\t" \
|
|
"pop r1 \n\t" \
|
|
"pop r0 \n\t" \
|
|
"out __SREG__, r0 \n\t" \
|
|
"pop r0 \n\t" \
|
|
);
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Perform hardware setup to enable ticks from timer 1, compare match A.
|
|
*/
|
|
static void prvSetupTimerInterrupt( void );
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* See header file for description.
|
|
*/
|
|
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
|
|
{
|
|
uint16_t usAddress;
|
|
|
|
/* Place a few bytes of known values on the bottom of the stack.
|
|
This is just useful for debugging. */
|
|
|
|
*pxTopOfStack = 0x11;
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = 0x22;
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = 0x33;
|
|
pxTopOfStack--;
|
|
|
|
/* Simulate how the stack would look after a call to vPortYield() generated by
|
|
the compiler. */
|
|
|
|
/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
|
|
|
|
/* The start of the task code will be popped off the stack last, so place
|
|
it on first. */
|
|
usAddress = ( uint16_t ) pxCode;
|
|
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
|
pxTopOfStack--;
|
|
|
|
usAddress >>= 8;
|
|
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
|
pxTopOfStack--;
|
|
|
|
usAddress >>= 8;
|
|
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
|
pxTopOfStack--;
|
|
|
|
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
|
|
portSAVE_CONTEXT places the flags on the stack immediately after r0
|
|
to ensure the interrupts get disabled as soon as possible, and so ensuring
|
|
the stack use is minimal should a context switch interrupt occur. */
|
|
*pxTopOfStack = ( StackType_t ) 0x00; /* R0 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = portFLAGS_INT_ENABLED;
|
|
pxTopOfStack--;
|
|
|
|
|
|
/* Now the remaining registers. The compiler expects R1 to be 0. */
|
|
*pxTopOfStack = ( StackType_t ) 0x00; /* R1 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x02; /* R2 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x03; /* R3 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x04; /* R4 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x05; /* R5 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x06; /* R6 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x07; /* R7 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x08; /* R8 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x09; /* R9 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x10; /* R10 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x11; /* R11 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x12; /* R12 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x13; /* R13 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x14; /* R14 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x15; /* R15 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x16; /* R16 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x17; /* R17 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x18; /* R18 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x19; /* R19 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x20; /* R20 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x21; /* R21 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x22; /* R22 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x23; /* R23 */
|
|
pxTopOfStack--;
|
|
|
|
/* Place the parameter on the stack in the expected location. */
|
|
usAddress = ( uint16_t ) pvParameters;
|
|
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
|
pxTopOfStack--;
|
|
|
|
usAddress >>= 8;
|
|
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
|
pxTopOfStack--;
|
|
|
|
*pxTopOfStack = ( StackType_t ) 0x26; /* R26 X */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x27; /* R27 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x28; /* R28 Y */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x29; /* R29 */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x30; /* R30 Z */
|
|
pxTopOfStack--;
|
|
*pxTopOfStack = ( StackType_t ) 0x031; /* R31 */
|
|
pxTopOfStack--;
|
|
|
|
/*lint +e950 +e611 +e923 */
|
|
|
|
return pxTopOfStack;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
/* Setup the hardware to generate the tick. */
|
|
prvSetupTimerInterrupt();
|
|
|
|
/* Restore the context of the first task that is going to run. */
|
|
portRESTORE_CONTEXT();
|
|
|
|
/* Simulate a function call end as generated by the compiler. We will now
|
|
jump to the start of the task the context of which we have just restored. */
|
|
asm volatile ( "ret" );
|
|
|
|
/* Should not get here. */
|
|
return pdTRUE;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* It is unlikely that the AVR port will get stopped. If required simply
|
|
disable the tick interrupt here. */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Manual context switch. The first thing we do is save the registers so we
|
|
* can use a naked attribute.
|
|
*/
|
|
void vPortYield( void ) __attribute__ ( ( naked ) );
|
|
void vPortYield( void )
|
|
{
|
|
portSAVE_CONTEXT();
|
|
vTaskSwitchContext();
|
|
portRESTORE_CONTEXT();
|
|
|
|
asm volatile ( "ret" );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Context switch function used by the tick. This must be identical to
|
|
* vPortYield() from the call to vTaskSwitchContext() onwards. The only
|
|
* difference from vPortYield() is the tick count is incremented as the
|
|
* call comes from the tick ISR.
|
|
*/
|
|
void vPortYieldFromTick( void ) __attribute__ ( ( naked ) );
|
|
void vPortYieldFromTick( void )
|
|
{
|
|
portSAVE_CONTEXT();
|
|
if( xTaskIncrementTick() != pdFALSE )
|
|
{
|
|
vTaskSwitchContext();
|
|
}
|
|
portRESTORE_CONTEXT();
|
|
|
|
asm volatile ( "ret" );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Setup timer 1 compare match A to generate a tick interrupt.
|
|
*/
|
|
static void prvSetupTimerInterrupt( void )
|
|
{
|
|
uint32_t ulCompareMatch;
|
|
uint8_t ucHighByte, ucLowByte;
|
|
|
|
/* Using 16bit timer 1 to generate the tick. Correct fuses must be
|
|
selected for the configCPU_CLOCK_HZ clock. */
|
|
|
|
ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
|
|
|
|
/* We only have 16 bits so have to scale to get our required tick rate. */
|
|
ulCompareMatch /= portCLOCK_PRESCALER;
|
|
|
|
/* Adjust for correct value. */
|
|
ulCompareMatch -= ( uint32_t ) 1;
|
|
|
|
/* Setup compare match value for compare match A. Interrupts are disabled
|
|
before this is called so we need not worry here. */
|
|
ucLowByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff );
|
|
ulCompareMatch >>= 8;
|
|
ucHighByte = ( uint8_t ) ( ulCompareMatch & ( uint32_t ) 0xff );
|
|
OCR1AH = ucHighByte;
|
|
OCR1AL = ucLowByte;
|
|
|
|
/* Setup clock source and compare match behaviour. */
|
|
ucLowByte = portCLEAR_COUNTER_ON_MATCH | portPRESCALE_64;
|
|
TCCR1B = ucLowByte;
|
|
|
|
/* Enable the interrupt - this is okay as interrupt are currently globally
|
|
disabled. */
|
|
ucLowByte = TIMSK1;
|
|
ucLowByte |= portCOMPARE_MATCH_A_INTERRUPT_ENABLE;
|
|
TIMSK1 = ucLowByte;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
#if configUSE_PREEMPTION == 1
|
|
|
|
/*
|
|
* Tick ISR for preemptive scheduler. We can use a naked attribute as
|
|
* the context is saved at the start of vPortYieldFromTick(). The tick
|
|
* count is incremented after the context is saved.
|
|
*/
|
|
ISR ( TIMER1_COMPA_vect , ISR_NAKED )
|
|
{
|
|
vPortYieldFromTick();
|
|
asm volatile ( "reti" );
|
|
}
|
|
#else
|
|
|
|
/*
|
|
* Tick ISR for the cooperative scheduler. All this does is increment the
|
|
* tick count. We don't need to switch context, this can only be done by
|
|
* manual calls to taskYIELD();
|
|
*/
|
|
ISR ( TIMER1_COMPA_vect , ISR_NAKED )
|
|
{
|
|
xTaskIncrementTick();
|
|
}
|
|
#endif
|