diff options
| author | Yuval Adam <yuv.adm@gmail.com> | 2014-08-08 14:42:07 +0300 |
|---|---|---|
| committer | Yuval Adam <yuv.adm@gmail.com> | 2014-08-08 14:42:07 +0300 |
| commit | a6163888f3c56123b1db313743c6147ba498732c (patch) | |
| tree | ff7d15d991d1d09ba6cbc0cec80924f57445bfdd /third_party/FreeRTOS/Source/portable/CCS | |
| parent | c3e4c9a25c2910d2d66d52215b3406b13d5b23d5 (diff) | |
Add third_party libs
Diffstat (limited to 'third_party/FreeRTOS/Source/portable/CCS')
3 files changed, 602 insertions, 0 deletions
diff --git a/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c new file mode 100644 index 0000000..43407b3 --- /dev/null +++ b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/port.c @@ -0,0 +1,258 @@ +/*
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+ ***************************************************************************
+ * *
+ * FreeRTOS tutorial books are available in pdf and paperback. *
+ * Complete, revised, and edited pdf reference manuals are also *
+ * available. *
+ * *
+ * Purchasing FreeRTOS documentation will not only help you, by *
+ * ensuring you get running as quickly as possible and with an *
+ * in-depth knowledge of how to use FreeRTOS, it will also help *
+ * the FreeRTOS project to continue with its mission of providing *
+ * professional grade, cross platform, de facto standard solutions *
+ * for microcontrollers - completely free of charge! *
+ * *
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+ * *
+ * Thank you for using FreeRTOS, and thank you for your support! *
+ * *
+ ***************************************************************************
+
+
+ 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. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 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, training, latest information,
+ license and contact details.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool.
+
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+ provide a safety engineered and independently SIL3 certified version under
+ the SafeRTOS brand: http://www.SafeRTOS.com.
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM4F port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+#if float_support != FPv4SPD16
+ #error This port can only be used when the project options are configured to enable hardware floating point support.
+#endif
+
+/* Constants required to manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL ( ( volatile unsigned long * ) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD ( ( volatile unsigned long * ) 0xe000e014 )
+#define portNVIC_INT_CTRL ( ( volatile unsigned long * ) 0xe000ed04 )
+#define portNVIC_SYSPRI2 ( ( volatile unsigned long * ) 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 long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
+#define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+
+/* Constants required to manipulate the VFP. */
+#define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR ( 0x01000000 )
+#define portINITIAL_EXEC_RETURN ( 0xfffffffd )
+
+/* 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 );
+
+/*
+ * Functions defined in portasm.s to enable the VFP.
+ */
+extern void vPortEnableVFP( 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. */
+
+ /* Offset added to account for the way the MCU uses the stack on entry/exit
+ of interrupts, and to ensure alignment. */
+ pxTopOfStack--;
+
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
+ pxTopOfStack--;
+ *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
+ pxTopOfStack--;
+ *pxTopOfStack = 0; /* LR */
+
+ /* Save code space by skipping register initialisation. */
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
+ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
+
+ /* A save method is being used that requires each task to maintain its
+ own exec return value. */
+ pxTopOfStack--;
+ *pxTopOfStack = portINITIAL_EXEC_RETURN;
+
+ 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;
+
+ /* Ensure the VFP is enabled - it should be anyway. */
+ vPortEnableVFP();
+
+ /* Lazy save always. */
+ *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+
+ /* Start the first task. */
+ vPortStartFirstTask();
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+ /* It is unlikely that the CM4F 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 vPortYield( void )
+{
+ /* Set a PendSV to request a context switch. */
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+ /* Barriers are normally not required but do ensure the code is completely
+ within the specified behaviour for the architecture. */
+ __asm ( "dsb" );
+ __asm ( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+ portDISABLE_INTERRUPTS();
+ uxCriticalNesting++;
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+ uxCriticalNesting--;
+ if( uxCriticalNesting == 0 )
+ {
+ portENABLE_INTERRUPTS();
+ }
+}
+/*-----------------------------------------------------------*/
+
+void xPortSysTickHandler( void )
+{
+unsigned long 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();
+ {
+ xTaskIncrementTick();
+ }
+ 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;
+}
+/*-----------------------------------------------------------*/
+
diff --git a/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm new file mode 100644 index 0000000..17e37f9 --- /dev/null +++ b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portasm.asm @@ -0,0 +1,193 @@ +
+; FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+; ***************************************************************************
+; * *
+; * FreeRTOS tutorial books are available in pdf and paperback. *
+; * Complete, revised, and edited pdf reference manuals are also *
+; * available. *
+; * *
+; * Purchasing FreeRTOS documentation will not only help you, by *
+; * ensuring you get running as quickly as possible and with an *
+; * in-depth knowledge of how to use FreeRTOS, it will also help *
+; * the FreeRTOS project to continue with its mission of providing *
+; * professional grade, cross platform, de facto standard solutions *
+; * for microcontrollers - completely free of charge! *
+; * *
+; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+; * *
+; * Thank you for using FreeRTOS, and thank you for your support! *
+; * *
+; ***************************************************************************
+
+
+; 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. See the GNU General Public License for
+; more details. You should have received a copy of the GNU General Public
+; License and the FreeRTOS license exception along with FreeRTOS; if not it
+; can be viewed here: http://www.freertos.org/a00114.html and also obtained
+; by writing to Richard Barry, contact details for whom are available on the
+; FreeRTOS WEB site.
+
+; 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, training, latest information,
+; license and contact details.
+
+; http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+; including FreeRTOS+Trace - an indispensable productivity tool.
+
+; Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+; the code with commercial support, indemnification, and middleware, under
+; the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+; provide a safety engineered and independently SIL3 certified version under
+; the SafeRTOS brand: http://www.SafeRTOS.com.
+
+
+ .cdecls C, NOLIST, WARN, "FreeRTOSConfig.h"
+
+ .thumb
+ .text
+
+ .global vTaskSwitchContext
+ .global pxCurrentTCB
+pxCurrentTCBvalue .word pxCurrentTCB
+
+ .global xPortPendSVHandler
+ .global vPortSetInterruptMask
+ .global vPortClearInterruptMask
+ .global vPortSVCHandler
+ .global vPortStartFirstTask
+ .global vPortEnableVFP
+
+
+;-----------------------------------------------------------
+
+xPortPendSVHandler:
+ mrs r0, psp
+
+ ; Get the location of the current TCB.
+ ldr r3, pxCurrentTCBvalue
+ ldr r2, [r3]
+
+ ; Is the task using the FPU context? If so, push high vfp registers.
+ tst r14, #0x10
+ it EQ
+ vstmdbeq r0!, {s16-s31}
+
+ ; Save the core registers.
+ stmdb r0!, {r4-r11, r14}
+
+ ; Save the new top of stack into the first member of the TCB.
+ str r0, [r2]
+
+ stmdb sp!, {r3, r14}
+ mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
+ msr basepri, r0
+ bl vTaskSwitchContext
+ mov r0, #0
+ msr basepri, r0
+ ldmia sp!, {r3, r14}
+
+ ; The first item in pxCurrentTCB is the task top of stack.
+ ldr r1, [r3]
+ ldr r0, [r1]
+
+ ; Pop the core registers.
+ ldmia r0!, {r4-r11, r14}
+
+ ; Is the task using the FPU context? If so, pop the high vfp registers
+ ; too.
+ tst r14, #0x10
+ it EQ
+ vldmiaeq r0!, {s16-s31}
+
+ msr psp, r0
+ bx r14
+
+
+;-----------------------------------------------------------
+
+vPortSetInterruptMask:
+ mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
+ msr BASEPRI, r0
+
+ bx r14
+
+;-----------------------------------------------------------
+
+vPortClearInterruptMask:
+ mov r0, #0
+ msr BASEPRI, r0
+
+ bx r14
+
+;-----------------------------------------------------------
+
+vPortSVCHandler:
+ ; Get the location of the current TCB.
+ ldr r3, pxCurrentTCBvalue
+ ldr r1, [r3]
+ ldr r0, [r1]
+ ; Pop the core registers.
+ ldmia r0!, {r4-r11, r14}
+ msr psp, r0
+ mov r0, #0
+ msr basepri, r0
+ bx r14
+
+;-----------------------------------------------------------
+
+vPortStartFirstTask:
+; Vector Table offset.
+VTABLE .set 0xE000ED08
+
+ ; Use the NVIC offset register to locate the stack.
+ MOVW r0, #VTABLE & 0xFFFF
+ MOVT r0, #VTABLE >> 16
+ ldr r0, [r0]
+ ldr r0, [r0]
+ ; Set the msp back to the start of the stack.
+ msr msp, r0
+ ; Call SVC to start the first task.
+ cpsie i
+ svc #0
+
+;-----------------------------------------------------------
+
+vPortEnableVFP:
+; CAPCR Register address.
+CPACR .set 0xE000ED88
+
+ ; The FPU enable bits are in the CPACR.
+ MOVW r0, #CPACR & 0xFFFF
+ MOVT r0, #CPACR >> 16
+ ldr r1, [r0]
+
+ ; Enable CP10 and CP11 coprocessors, then save back.
+ orr r1, r1, #( 0xf << 20 )
+ str r1, [r0]
+ bx r14
+
+
+ .end
diff --git a/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h new file mode 100644 index 0000000..7520d59 --- /dev/null +++ b/third_party/FreeRTOS/Source/portable/CCS/ARM_CM4F/portmacro.h @@ -0,0 +1,151 @@ +/*
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+ ***************************************************************************
+ * *
+ * FreeRTOS tutorial books are available in pdf and paperback. *
+ * Complete, revised, and edited pdf reference manuals are also *
+ * available. *
+ * *
+ * Purchasing FreeRTOS documentation will not only help you, by *
+ * ensuring you get running as quickly as possible and with an *
+ * in-depth knowledge of how to use FreeRTOS, it will also help *
+ * the FreeRTOS project to continue with its mission of providing *
+ * professional grade, cross platform, de facto standard solutions *
+ * for microcontrollers - completely free of charge! *
+ * *
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+ * *
+ * Thank you for using FreeRTOS, and thank you for your support! *
+ * *
+ ***************************************************************************
+
+
+ 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. See the GNU General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 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, training, latest information,
+ license and contact details.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool.
+
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+ provide a safety engineered and independently SIL3 certified version under
+ the SafeRTOS brand: http://www.SafeRTOS.com.
+*/
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_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 long
+
+#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
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 8
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+extern void vPortYield( void );
+extern void vPortYieldFromISR( void );
+
+#define portYIELD() vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern void vPortSetInterruptMask( void );
+extern void vPortClearInterruptMask( void );
+
+#define portDISABLE_INTERRUPTS() vPortSetInterruptMask()
+#define portENABLE_INTERRUPTS() vPortClearInterruptMask()
+#define portENTER_CRITICAL() vPortEnterCritical()
+#define portEXIT_CRITICAL() vPortExitCritical()
+#define portSET_INTERRUPT_MASK_FROM_ISR() 0;vPortSetInterruptMask()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask();(void)x
+
+/* There are an uneven number of items on the initial stack, so
+portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
+#define portALIGNMENT_ASSERT_pxCurrentTCB ( void )
+
+/*-----------------------------------------------------------*/
+
+/* 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 )
+
+#define portNOP()
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+
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