вернула структуру библиотеки обратно, иначе не подхватывается в arduinoIDE
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@@ -1,34 +1,22 @@
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/*
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* FreeRTOS Kernel V11.1.0
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
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||||
* 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.
|
||||
*
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||||
* https://www.FreeRTOS.org
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||||
* https://github.com/FreeRTOS
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*
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* Copyright (C) 2023, Syntacore Ltd.
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* All Rights Reserved.
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||||
*/
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||||
#ifndef FREERTOS_CONFIG_H
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||||
#define FREERTOS_CONFIG_H
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// #include "plf.h"
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//#include "arch.h"
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//#include "rtc.h"
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//#include "mtimer.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "mcu32_memory_map.h"
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#ifdef __cplusplus
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}
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#endif
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/*-----------------------------------------------------------
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* Application specific definitions.
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@@ -39,27 +27,34 @@
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See https://www.freertos.org/a00110.html.
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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// #define configMTIME_BASE_ADDRESS ( SCR1_TIMER->MTIME )
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// #define configMTIMECMP_BASE_ADDRESS ( SCR1_TIMER->MTIMECMP )
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#define configMTIME_BASE_ADDRESS 0//((uintptr_t)&SCR1_TIMER->MTIME)
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#define configMTIMECMP_BASE_ADDRESS 0//((uintptr_t)&SCR1_TIMER->MTIMECMP)
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||||
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||||
/* Delay definition - here, the user can choose which delay implementation is required.
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* The default is to change nothing. */
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#define configUSE_PORT_DELAY 1
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#define configUSE_PORT_DELAY 0
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/* And on to the things the same no matter the AVR type... */
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#define configUSE_PREEMPTION 1
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#define configCPU_CLOCK_HZ ( ( uint32_t ) F_CPU ) // This F_CPU variable set by the environment
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#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_16_BITS
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configUSE_16_BIT_TICKS 0
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#define configMAX_PRIORITIES 4
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#define configMAX_TASK_NAME_LEN 16
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#define configTOTAL_HEAP_SIZE ( ( size_t ) 3*1024 )
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/* Set the stack depth type to be uint16_t, otherwise it defaults to StackType_t */
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#define configSTACK_DEPTH_TYPE uint16_t
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#define configMINIMAL_STACK_SIZE 192
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#define configISR_STACK_SIZE_WORDS 64 // todo сколько надо?
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#define configCHECK_FOR_STACK_OVERFLOW 1
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#define configUSE_TRACE_FACILITY 0
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@@ -133,5 +128,4 @@ to exclude the API function. */
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#endif
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||||
#endif
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||||
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#endif /* FREERTOS_CONFIG_H */
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-27
@@ -36,33 +36,6 @@ extern "C" {
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#endif
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// System Tick - Scheduler timer
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// Use the Watchdog timer, and choose the rate at which scheduler interrupts will occur.
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||||
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/* Watchdog Timer is 128kHz nominal, but 120 kHz at 5V DC and 25 degrees is actually more accurate, from data sheet. */
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// todo удалить про watchdog?
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#ifndef portUSE_WDTO
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#define portUSE_WDTO /*WDTO_15MS*/ // portUSE_WDTO to use the Watchdog Timer for xTaskIncrementTick
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#endif
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||||
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||||
/* Watchdog period options: WDTO_15MS
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WDTO_30MS
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||||
WDTO_60MS
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||||
WDTO_120MS
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WDTO_250MS
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WDTO_500MS
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||||
WDTO_1S
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WDTO_2S
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||||
*/
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||||
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||||
#if defined( portUSE_WDTO )
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// todo определить свое
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#define configTICK_RATE_HZ /*( (TickType_t)( (uint32_t)128000 >> (portUSE_WDTO + 11) ) )*/ // 2^11 = 2048 WDT scaler for 128kHz Timer
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#define portTICK_PERIOD_MS 1/*( (TickType_t) _BV( portUSE_WDTO + 4 ) )*/
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#else
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#warning "Variant configuration must define `configTICK_RATE_HZ` and `portTICK_PERIOD_MS` as either a macro or a constant"
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#define configTICK_RATE_HZ 1
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#define portTICK_PERIOD_MS ( (TickType_t) ( 1000 / configTICK_RATE_HZ ) )
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#endif
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/*-----------------------------------------------------------*/
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File diff suppressed because it is too large.
Load diff
File renamed without changes.
@@ -0,0 +1,69 @@
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/*
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||||
* FreeRTOS Kernel V11.1.0
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||||
* 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
|
||||
*
|
||||
*/
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||||
|
||||
/*
|
||||
* The FreeRTOS kernel's RISC-V port is split between the the code that is
|
||||
* common across all currently supported RISC-V chips (implementations of the
|
||||
* RISC-V ISA), and code that tailors the port to a specific RISC-V chip:
|
||||
*
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||||
* + FreeRTOS\Source\portable\GCC\RISC-V\portASM.S contains the code that
|
||||
* is common to all currently supported RISC-V chips. There is only one
|
||||
* portASM.S file because the same file is built for all RISC-V target chips.
|
||||
*
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||||
* + Header files called freertos_risc_v_chip_specific_extensions.h contain the
|
||||
* code that tailors the FreeRTOS kernel's RISC-V port to a specific RISC-V
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||||
* chip. There are multiple freertos_risc_v_chip_specific_extensions.h files
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||||
* as there are multiple RISC-V chip implementations.
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||||
*
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||||
* !!!NOTE!!!
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||||
* TAKE CARE TO INCLUDE THE CORRECT freertos_risc_v_chip_specific_extensions.h
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||||
* HEADER FILE FOR THE CHIP IN USE. This is done using the assembler's (not the
|
||||
* compiler's!) include path. For example, if the chip in use includes a core
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||||
* local interrupter (CLINT) and does not include any chip specific register
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* extensions then add the path below to the assembler's include path:
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* FreeRTOS\Source\portable\GCC\RISC-V\chip_specific_extensions\RISCV_MTIME_CLINT_no_extensions
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*
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*/
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#ifndef __FREERTOS_RISC_V_EXTENSIONS_H__
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#define __FREERTOS_RISC_V_EXTENSIONS_H__
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#define portasmHAS_SIFIVE_CLINT 0
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#define portasmHAS_MTIME 1
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#define portasmADDITIONAL_CONTEXT_SIZE 0
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.macro portasmSAVE_ADDITIONAL_REGISTERS
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/* No additional registers to save, so this macro does nothing. */
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.endm
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.macro portasmRESTORE_ADDITIONAL_REGISTERS
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/* No additional registers to restore, so this macro does nothing. */
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.endm
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#endif /* __FREERTOS_RISC_V_EXTENSIONS_H__ */
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@@ -0,0 +1,165 @@
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/*
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||||
* FreeRTOS Kernel V11.1.0
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||||
* 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
|
||||
*
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||||
*/
|
||||
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||||
|
||||
/*
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||||
* The simplest possible implementation of pvPortMalloc(). Note that this
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||||
* implementation does NOT allow allocated memory to be freed again.
|
||||
*
|
||||
* See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
|
||||
* memory management pages of https://www.FreeRTOS.org for more information.
|
||||
*/
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||||
#include <stdlib.h>
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||||
|
||||
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
|
||||
* all the API functions to use the MPU wrappers. That should only be done when
|
||||
* task.h is included from an application file. */
|
||||
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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||||
|
||||
#include "Arduino_FreeRTOS.h"
|
||||
#include "task.h"
|
||||
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||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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||||
|
||||
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
|
||||
#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
|
||||
#endif
|
||||
|
||||
/* A few bytes might be lost to byte aligning the heap start address. */
|
||||
#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
|
||||
|
||||
/* Allocate the memory for the heap. */
|
||||
#if ( configAPPLICATION_ALLOCATED_HEAP == 1 )
|
||||
|
||||
/* The application writer has already defined the array used for the RTOS
|
||||
* heap - probably so it can be placed in a special segment or address. */
|
||||
extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
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#else
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static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
|
||||
#endif /* configAPPLICATION_ALLOCATED_HEAP */
|
||||
|
||||
/* Index into the ucHeap array. */
|
||||
static size_t xNextFreeByte = ( size_t ) 0U;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void * pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
void * pvReturn = NULL;
|
||||
static uint8_t * pucAlignedHeap = NULL;
|
||||
|
||||
/* Ensure that blocks are always aligned. */
|
||||
#if ( portBYTE_ALIGNMENT != 1 )
|
||||
{
|
||||
if( xWantedSize & portBYTE_ALIGNMENT_MASK )
|
||||
{
|
||||
/* Byte alignment required. Check for overflow. */
|
||||
if( ( xWantedSize + ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) ) ) > xWantedSize )
|
||||
{
|
||||
xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
|
||||
}
|
||||
else
|
||||
{
|
||||
xWantedSize = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif /* if ( portBYTE_ALIGNMENT != 1 ) */
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
if( pucAlignedHeap == NULL )
|
||||
{
|
||||
/* Ensure the heap starts on a correctly aligned boundary. */
|
||||
pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) & ucHeap[ portBYTE_ALIGNMENT - 1 ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
|
||||
}
|
||||
|
||||
/* Check there is enough room left for the allocation and. */
|
||||
if( ( xWantedSize > 0 ) && /* valid size */
|
||||
( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
|
||||
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) ) /* Check for overflow. */
|
||||
{
|
||||
/* Return the next free byte then increment the index past this
|
||||
* block. */
|
||||
pvReturn = pucAlignedHeap + xNextFreeByte;
|
||||
xNextFreeByte += xWantedSize;
|
||||
}
|
||||
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void * pv )
|
||||
{
|
||||
/* Memory cannot be freed using this scheme. See heap_2.c, heap_3.c and
|
||||
* heap_4.c for alternative implementations, and the memory management pages of
|
||||
* https://www.FreeRTOS.org for more information. */
|
||||
( void ) pv;
|
||||
|
||||
/* Force an assert as it is invalid to call this function. */
|
||||
configASSERT( pv == NULL );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortInitialiseBlocks( void )
|
||||
{
|
||||
/* Only required when static memory is not cleared. */
|
||||
xNextFreeByte = ( size_t ) 0;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
size_t xPortGetFreeHeapSize( void )
|
||||
{
|
||||
return( configADJUSTED_HEAP_SIZE - xNextFreeByte );
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Reset the state in this file. This state is normally initialized at start up.
|
||||
* This function must be called by the application before restarting the
|
||||
* scheduler.
|
||||
*/
|
||||
void vPortHeapResetState( void )
|
||||
{
|
||||
xNextFreeByte = ( size_t ) 0U;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -0,0 +1,384 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.1.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* The FreeRTOS kernel's RISC-V port is split between the the code that is
|
||||
* common across all currently supported RISC-V chips (implementations of the
|
||||
* RISC-V ISA), and code which tailors the port to a specific RISC-V chip:
|
||||
*
|
||||
* + The code that is common to all RISC-V chips is implemented in
|
||||
* FreeRTOS\Source\portable\GCC\RISC-V-RV32\portASM.S. There is only one
|
||||
* portASM.S file because the same file is used no matter which RISC-V chip is
|
||||
* in use.
|
||||
*
|
||||
* + The code that tailors the kernel's RISC-V port to a specific RISC-V
|
||||
* chip is implemented in freertos_risc_v_chip_specific_extensions.h. There
|
||||
* is one freertos_risc_v_chip_specific_extensions.h that can be used with any
|
||||
* RISC-V chip that both includes a standard CLINT and does not add to the
|
||||
* base set of RISC-V registers. There are additional
|
||||
* freertos_risc_v_chip_specific_extensions.h files for RISC-V implementations
|
||||
* that do not include a standard CLINT or do add to the base set of RISC-V
|
||||
* registers.
|
||||
*
|
||||
* CARE MUST BE TAKEN TO INCLDUE THE CORRECT
|
||||
* freertos_risc_v_chip_specific_extensions.h HEADER FILE FOR THE CHIP
|
||||
* IN USE. To include the correct freertos_risc_v_chip_specific_extensions.h
|
||||
* header file ensure the path to the correct header file is in the assembler's
|
||||
* include path.
|
||||
*
|
||||
* This freertos_risc_v_chip_specific_extensions.h is for use on RISC-V chips
|
||||
* that include a standard CLINT and do not add to the base set of RISC-V
|
||||
* registers.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "portContext.h"
|
||||
|
||||
/* Check the freertos_risc_v_chip_specific_extensions.h and/or command line
|
||||
definitions. */
|
||||
#if defined( portasmHAS_CLINT ) && defined( portasmHAS_MTIME )
|
||||
#error The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME. portasmHAS_CLINT and portasmHAS_MTIME cannot both be defined at once. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
|
||||
#endif
|
||||
|
||||
#ifdef portasmHAS_CLINT
|
||||
#warning The portasmHAS_CLINT constant has been deprecated. Please replace it with portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT. For now portasmHAS_MTIME and portasmHAS_SIFIVE_CLINT are derived from portasmHAS_CLINT. See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
|
||||
#define portasmHAS_MTIME portasmHAS_CLINT
|
||||
#define portasmHAS_SIFIVE_CLINT portasmHAS_CLINT
|
||||
#endif
|
||||
|
||||
#ifndef portasmHAS_MTIME
|
||||
#error freertos_risc_v_chip_specific_extensions.h must define portasmHAS_MTIME to either 1 (MTIME clock present) or 0 (MTIME clock not present). See https://www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html
|
||||
#endif
|
||||
|
||||
#ifndef portasmHAS_SIFIVE_CLINT
|
||||
#define portasmHAS_SIFIVE_CLINT 0
|
||||
#endif
|
||||
|
||||
.global xPortStartFirstTask
|
||||
.global pxPortInitialiseStack
|
||||
.global freertos_risc_v_trap_handler
|
||||
.global freertos_risc_v_exception_handler
|
||||
.global freertos_risc_v_interrupt_handler
|
||||
.global freertos_risc_v_mtimer_interrupt_handler
|
||||
|
||||
.extern vTaskSwitchContext
|
||||
.extern xTaskIncrementTick
|
||||
.extern pullMachineTimerCompareRegister
|
||||
.extern pullNextTime
|
||||
.extern uxTimerIncrementsForOneTick /* size_t type so 32-bit on 32-bit core and 64-bits on 64-bit core. */
|
||||
.extern xTaskReturnAddress
|
||||
|
||||
.weak freertos_risc_v_application_exception_handler
|
||||
.weak freertos_risc_v_application_interrupt_handler
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.macro portUPDATE_MTIMER_COMPARE_REGISTER
|
||||
load_x a0, pullMachineTimerCompareRegister /* Load address of compare register into a0. */
|
||||
load_x a1, pullNextTime /* Load the address of ullNextTime into a1. */
|
||||
|
||||
#if( __riscv_xlen == 32 )
|
||||
|
||||
/* Update the 64-bit mtimer compare match value in two 32-bit writes. */
|
||||
li a4, -1
|
||||
lw a2, 0(a1) /* Load the low word of ullNextTime into a2. */
|
||||
lw a3, 4(a1) /* Load the high word of ullNextTime into a3. */
|
||||
sw a4, 0(a0) /* Low word no smaller than old value to start with - will be overwritten below. */
|
||||
sw a3, 4(a0) /* Store high word of ullNextTime into compare register. No smaller than new value. */
|
||||
sw a2, 0(a0) /* Store low word of ullNextTime into compare register. */
|
||||
lw t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
|
||||
add a4, t0, a2 /* Add the low word of ullNextTime to the timer increments for one tick (assumes timer increment for one tick fits in 32-bits). */
|
||||
sltu t1, a4, a2 /* See if the sum of low words overflowed (what about the zero case?). */
|
||||
add t2, a3, t1 /* Add overflow to high word of ullNextTime. */
|
||||
sw a4, 0(a1) /* Store new low word of ullNextTime. */
|
||||
sw t2, 4(a1) /* Store new high word of ullNextTime. */
|
||||
|
||||
#endif /* __riscv_xlen == 32 */
|
||||
|
||||
#if( __riscv_xlen == 64 )
|
||||
|
||||
/* Update the 64-bit mtimer compare match value. */
|
||||
ld t2, 0(a1) /* Load ullNextTime into t2. */
|
||||
sd t2, 0(a0) /* Store ullNextTime into compare register. */
|
||||
ld t0, uxTimerIncrementsForOneTick /* Load the value of ullTimerIncrementForOneTick into t0 (could this be optimized by storing in an array next to pullNextTime?). */
|
||||
add t4, t0, t2 /* Add ullNextTime to the timer increments for one tick. */
|
||||
sd t4, 0(a1) /* Store ullNextTime. */
|
||||
|
||||
#endif /* __riscv_xlen == 64 */
|
||||
.endm
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Unlike other ports pxPortInitialiseStack() is written in assembly code as it
|
||||
* needs access to the portasmADDITIONAL_CONTEXT_SIZE constant. The prototype
|
||||
* for the function is as per the other ports:
|
||||
* StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters );
|
||||
*
|
||||
* As per the standard RISC-V ABI pxTopOfStack is passed in in a0, pxCode in
|
||||
* a1, and pvParameters in a2. The new top of stack is passed out in a0.
|
||||
*
|
||||
* RISC-V maps registers to ABI names as follows (X1 to X31 integer registers
|
||||
* for the 'I' profile, X1 to X15 for the 'E' profile, currently I assumed).
|
||||
*
|
||||
* Register ABI Name Description Saver
|
||||
* x0 zero Hard-wired zero -
|
||||
* x1 ra Return address Caller
|
||||
* x2 sp Stack pointer Callee
|
||||
* x3 gp Global pointer -
|
||||
* x4 tp Thread pointer -
|
||||
* x5-7 t0-2 Temporaries Caller
|
||||
* x8 s0/fp Saved register/Frame pointer Callee
|
||||
* x9 s1 Saved register Callee
|
||||
* x10-11 a0-1 Function Arguments/return values Caller
|
||||
* x12-17 a2-7 Function arguments Caller
|
||||
* x18-27 s2-11 Saved registers Callee
|
||||
* x28-31 t3-6 Temporaries Caller
|
||||
*
|
||||
* The RISC-V context is saved to FreeRTOS tasks in the following stack frame,
|
||||
* where the global and thread pointers are currently assumed to be constant so
|
||||
* are not saved:
|
||||
*
|
||||
* mstatus
|
||||
* xCriticalNesting
|
||||
* x31
|
||||
* x30
|
||||
* x29
|
||||
* x28
|
||||
* x27
|
||||
* x26
|
||||
* x25
|
||||
* x24
|
||||
* x23
|
||||
* x22
|
||||
* x21
|
||||
* x20
|
||||
* x19
|
||||
* x18
|
||||
* x17
|
||||
* x16
|
||||
* x15
|
||||
* x14
|
||||
* x13
|
||||
* x12
|
||||
* x11
|
||||
* pvParameters
|
||||
* x9
|
||||
* x8
|
||||
* x7
|
||||
* x6
|
||||
* x5
|
||||
* portTASK_RETURN_ADDRESS
|
||||
* [chip specific registers go here]
|
||||
* pxCode
|
||||
*/
|
||||
pxPortInitialiseStack:
|
||||
csrr t0, mstatus /* Obtain current mstatus value. */
|
||||
andi t0, t0, ~0x8 /* Ensure interrupts are disabled when the stack is restored within an ISR. Required when a task is created after the schedulre has been started, otherwise interrupts would be disabled anyway. */
|
||||
addi t1, x0, 0x188 /* Generate the value 0x1880, which are the MPIE and MPP bits to set in mstatus. */
|
||||
slli t1, t1, 4
|
||||
or t0, t0, t1 /* Set MPIE and MPP bits in mstatus value. */
|
||||
|
||||
addi a0, a0, -portWORD_SIZE
|
||||
store_x t0, 0(a0) /* mstatus onto the stack. */
|
||||
addi a0, a0, -portWORD_SIZE /* Space for critical nesting count. */
|
||||
store_x x0, 0(a0) /* Critical nesting count starts at 0 for every task. */
|
||||
|
||||
#ifdef __riscv_32e
|
||||
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x10-x15. */
|
||||
#else
|
||||
addi a0, a0, -(22 * portWORD_SIZE) /* Space for registers x10-x31. */
|
||||
#endif
|
||||
store_x a2, 0(a0) /* Task parameters (pvParameters parameter) goes into register X10/a0 on the stack. */
|
||||
addi a0, a0, -(6 * portWORD_SIZE) /* Space for registers x5-x9 + taskReturnAddress. */
|
||||
load_x t0, xTaskReturnAddress
|
||||
store_x t0, 0(a0) /* Return address onto the stack. */
|
||||
addi t0, x0, portasmADDITIONAL_CONTEXT_SIZE /* The number of chip specific additional registers. */
|
||||
chip_specific_stack_frame: /* First add any chip specific registers to the stack frame being created. */
|
||||
beq t0, x0, 1f /* No more chip specific registers to save. */
|
||||
addi a0, a0, -portWORD_SIZE /* Make space for chip specific register. */
|
||||
store_x x0, 0(a0) /* Give the chip specific register an initial value of zero. */
|
||||
addi t0, t0, -1 /* Decrement the count of chip specific registers remaining. */
|
||||
j chip_specific_stack_frame /* Until no more chip specific registers. */
|
||||
1:
|
||||
addi a0, a0, -portWORD_SIZE
|
||||
store_x a1, 0(a0) /* mret value (pxCode parameter) onto the stack. */
|
||||
ret
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
xPortStartFirstTask:
|
||||
load_x sp, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
load_x sp, 0( sp ) /* Read sp from first TCB member. */
|
||||
|
||||
load_x x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
|
||||
|
||||
portasmRESTORE_ADDITIONAL_REGISTERS /* Defined in freertos_risc_v_chip_specific_extensions.h to restore any registers unique to the RISC-V implementation. */
|
||||
|
||||
load_x x7, 4 * portWORD_SIZE( sp ) /* t2 */
|
||||
load_x x8, 5 * portWORD_SIZE( sp ) /* s0/fp */
|
||||
load_x x9, 6 * portWORD_SIZE( sp ) /* s1 */
|
||||
load_x x10, 7 * portWORD_SIZE( sp ) /* a0 */
|
||||
load_x x11, 8 * portWORD_SIZE( sp ) /* a1 */
|
||||
load_x x12, 9 * portWORD_SIZE( sp ) /* a2 */
|
||||
load_x x13, 10 * portWORD_SIZE( sp ) /* a3 */
|
||||
load_x x14, 11 * portWORD_SIZE( sp ) /* a4 */
|
||||
load_x x15, 12 * portWORD_SIZE( sp ) /* a5 */
|
||||
#ifndef __riscv_32e
|
||||
load_x x16, 13 * portWORD_SIZE( sp ) /* a6 */
|
||||
load_x x17, 14 * portWORD_SIZE( sp ) /* a7 */
|
||||
load_x x18, 15 * portWORD_SIZE( sp ) /* s2 */
|
||||
load_x x19, 16 * portWORD_SIZE( sp ) /* s3 */
|
||||
load_x x20, 17 * portWORD_SIZE( sp ) /* s4 */
|
||||
load_x x21, 18 * portWORD_SIZE( sp ) /* s5 */
|
||||
load_x x22, 19 * portWORD_SIZE( sp ) /* s6 */
|
||||
load_x x23, 20 * portWORD_SIZE( sp ) /* s7 */
|
||||
load_x x24, 21 * portWORD_SIZE( sp ) /* s8 */
|
||||
load_x x25, 22 * portWORD_SIZE( sp ) /* s9 */
|
||||
load_x x26, 23 * portWORD_SIZE( sp ) /* s10 */
|
||||
load_x x27, 24 * portWORD_SIZE( sp ) /* s11 */
|
||||
load_x x28, 25 * portWORD_SIZE( sp ) /* t3 */
|
||||
load_x x29, 26 * portWORD_SIZE( sp ) /* t4 */
|
||||
load_x x30, 27 * portWORD_SIZE( sp ) /* t5 */
|
||||
load_x x31, 28 * portWORD_SIZE( sp ) /* t6 */
|
||||
#endif
|
||||
|
||||
load_x x5, portCRITICAL_NESTING_OFFSET * portWORD_SIZE( sp ) /* Obtain xCriticalNesting value for this task from task's stack. */
|
||||
load_x x6, pxCriticalNesting /* Load the address of xCriticalNesting into x6. */
|
||||
store_x x5, 0( x6 ) /* Restore the critical nesting value for this task. */
|
||||
|
||||
load_x x5, portMSTATUS_OFFSET * portWORD_SIZE( sp ) /* Initial mstatus into x5 (t0). */
|
||||
addi x5, x5, 0x08 /* Set MIE bit so the first task starts with interrupts enabled - required as returns with ret not eret. */
|
||||
csrrw x0, mstatus, x5 /* Interrupts enabled from here! */
|
||||
|
||||
load_x x5, 2 * portWORD_SIZE( sp ) /* Initial x5 (t0) value. */
|
||||
load_x x6, 3 * portWORD_SIZE( sp ) /* Initial x6 (t1) value. */
|
||||
|
||||
addi sp, sp, portCONTEXT_SIZE
|
||||
ret
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
freertos_risc_v_application_exception_handler:
|
||||
csrr t0, mcause /* For viewing in the debugger only. */
|
||||
csrr t1, mepc /* For viewing in the debugger only */
|
||||
csrr t2, mstatus /* For viewing in the debugger only */
|
||||
j .
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
freertos_risc_v_application_interrupt_handler:
|
||||
csrr t0, mcause /* For viewing in the debugger only. */
|
||||
csrr t1, mepc /* For viewing in the debugger only */
|
||||
csrr t2, mstatus /* For viewing in the debugger only */
|
||||
j .
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.section .text.freertos_risc_v_exception_handler
|
||||
freertos_risc_v_exception_handler:
|
||||
portcontextSAVE_EXCEPTION_CONTEXT
|
||||
/* a0 now contains mcause. */
|
||||
li t0, 11 /* 11 == environment call. */
|
||||
bne a0, t0, other_exception /* Not an M environment call, so some other exception. */
|
||||
call vTaskSwitchContext
|
||||
portcontextRESTORE_CONTEXT
|
||||
|
||||
other_exception:
|
||||
call freertos_risc_v_application_exception_handler
|
||||
portcontextRESTORE_CONTEXT
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.section .text.freertos_risc_v_interrupt_handler
|
||||
freertos_risc_v_interrupt_handler:
|
||||
portcontextSAVE_INTERRUPT_CONTEXT
|
||||
call freertos_risc_v_application_interrupt_handler
|
||||
portcontextRESTORE_CONTEXT
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.section .text.freertos_risc_v_mtimer_interrupt_handler
|
||||
freertos_risc_v_mtimer_interrupt_handler:
|
||||
portcontextSAVE_INTERRUPT_CONTEXT
|
||||
portUPDATE_MTIMER_COMPARE_REGISTER
|
||||
call xTaskIncrementTick
|
||||
beqz a0, exit_without_context_switch /* Don't switch context if incrementing tick didn't unblock a task. */
|
||||
call vTaskSwitchContext
|
||||
exit_without_context_switch:
|
||||
portcontextRESTORE_CONTEXT
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.section .text.freertos_risc_v_trap_handler
|
||||
.align 8
|
||||
freertos_risc_v_trap_handler:
|
||||
portcontextSAVE_CONTEXT_INTERNAL
|
||||
|
||||
csrr a0, mcause
|
||||
csrr a1, mepc
|
||||
|
||||
bge a0, x0, synchronous_exception
|
||||
|
||||
asynchronous_interrupt:
|
||||
store_x a1, 0( sp ) /* Asynchronous interrupt so save unmodified exception return address. */
|
||||
load_x sp, xISRStackTop /* Switch to ISR stack. */
|
||||
j handle_interrupt
|
||||
|
||||
synchronous_exception:
|
||||
addi a1, a1, 4 /* Synchronous so update exception return address to the instruction after the instruction that generated the exeption. */
|
||||
store_x a1, 0( sp ) /* Save updated exception return address. */
|
||||
load_x sp, xISRStackTop /* Switch to ISR stack. */
|
||||
j handle_exception
|
||||
|
||||
handle_interrupt:
|
||||
#if( portasmHAS_MTIME != 0 )
|
||||
|
||||
test_if_mtimer: /* If there is a CLINT then the mtimer is used to generate the tick interrupt. */
|
||||
addi t0, x0, 1
|
||||
slli t0, t0, __riscv_xlen - 1 /* LSB is already set, shift into MSB. Shift 31 on 32-bit or 63 on 64-bit cores. */
|
||||
addi t1, t0, 7 /* 0x8000[]0007 == machine timer interrupt. */
|
||||
bne a0, t1, application_interrupt_handler
|
||||
|
||||
portUPDATE_MTIMER_COMPARE_REGISTER
|
||||
call xTaskIncrementTick
|
||||
beqz a0, processed_source /* Don't switch context if incrementing tick didn't unblock a task. */
|
||||
call vTaskSwitchContext
|
||||
j processed_source
|
||||
|
||||
#endif /* portasmHAS_MTIME */
|
||||
|
||||
application_interrupt_handler:
|
||||
call freertos_risc_v_application_interrupt_handler
|
||||
j processed_source
|
||||
|
||||
handle_exception:
|
||||
/* a0 contains mcause. */
|
||||
li t0, 11 /* 11 == environment call. */
|
||||
bne a0, t0, application_exception_handler /* Not an M environment call, so some other exception. */
|
||||
call vTaskSwitchContext
|
||||
j processed_source
|
||||
|
||||
application_exception_handler:
|
||||
call freertos_risc_v_application_exception_handler
|
||||
j processed_source /* No other exceptions handled yet. */
|
||||
|
||||
processed_source:
|
||||
portcontextRESTORE_CONTEXT
|
||||
/*-----------------------------------------------------------*/
|
||||
File renamed without changes.
@@ -1,105 +0,0 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.1.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
* Implementation of pvPortMalloc() and vPortFree() that relies on the
|
||||
* compilers own malloc() and free() implementations.
|
||||
*
|
||||
* This file can only be used if the linker is configured to to generate
|
||||
* a heap memory area.
|
||||
*
|
||||
* See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the
|
||||
* memory management pages of https://www.FreeRTOS.org for more information.
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
|
||||
* all the API functions to use the MPU wrappers. That should only be done when
|
||||
* task.h is included from an application file. */
|
||||
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
#include "Arduino_FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
|
||||
|
||||
#if( configSUPPORT_DYNAMIC_ALLOCATION > 0 )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void * pvPortMalloc( size_t xWantedSize )
|
||||
{
|
||||
void * pvReturn;
|
||||
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
pvReturn = malloc( xWantedSize );
|
||||
traceMALLOC( pvReturn, xWantedSize );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
|
||||
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
{
|
||||
if( pvReturn == NULL )
|
||||
{
|
||||
vApplicationMallocFailedHook();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return pvReturn;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortFree( void * pv )
|
||||
{
|
||||
if( pv != NULL )
|
||||
{
|
||||
vTaskSuspendAll();
|
||||
{
|
||||
free( pv );
|
||||
traceFREE( pv, 0 );
|
||||
}
|
||||
( void ) xTaskResumeAll();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Reset the state in this file. This state is normally initialized at start up.
|
||||
* This function must be called by the application before restarting the
|
||||
* scheduler.
|
||||
*/
|
||||
void vPortHeapResetState( void )
|
||||
{
|
||||
/* No state needs to be re-initialised in heap_3. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
#endif /* ( configSUPPORT_DYNAMIC_ALLOCATION > 0 ) */
|
||||
@@ -1,654 +0,0 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.1.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
#include "Arduino_FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Implementation of functions defined in portable.h
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Start tasks with interrupts enabled. */
|
||||
#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 )
|
||||
|
||||
#if defined( portUSE_WDTO )
|
||||
// todo подсунуть свое
|
||||
#define portSCHEDULER_ISR WDT_vect
|
||||
|
||||
#else
|
||||
#warning "The user must define a Timer to be used for the Scheduler."
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
/* actual number of ticks per second, after configuration. Not for RTC, which has 1 tick/second. */
|
||||
TickType_t portTickRateHz;
|
||||
|
||||
/* remaining ticks in each second, decremented to enable the system_tick. Not for RTC, which has 1 tick/second. */
|
||||
volatile TickType_t ticksRemainingInSec;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* 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 (__zero_reg__) as the compiler expects it to be thus, however
|
||||
* some of the math routines make use of R1.
|
||||
*
|
||||
* r0 is set to __tmp_reg__ as the compiler expects it to be thus.
|
||||
*
|
||||
* #if defined(__AVR_HAVE_RAMPZ__)
|
||||
* #define __RAMPZ__ 0x3B
|
||||
* #endif
|
||||
*
|
||||
* #if defined(__AVR_3_BYTE_PC__)
|
||||
* #define __EIND__ 0x3C
|
||||
* #endif
|
||||
*
|
||||
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
|
||||
* so we need not worry about reading/writing to the stack pointer.
|
||||
*/
|
||||
// todo здесь что-то одно оставить и адаптировать под нас
|
||||
#if defined(__AVR_3_BYTE_PC__) && defined(__AVR_HAVE_RAMPZ__)
|
||||
/* 3-Byte PC Save with RAMPZ */
|
||||
#define portSAVE_CONTEXT() \
|
||||
/* __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SREG__ \n\t" \
|
||||
"cli \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, 0x3B \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, 0x3C \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"push __zero_reg__ \n\t" \
|
||||
"clr __zero_reg__ \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 __tmp_reg__, __SP_L__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SP_H__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#elif defined(__AVR_HAVE_RAMPZ__)
|
||||
/* 2-Byte PC Save with RAMPZ */
|
||||
#define portSAVE_CONTEXT() \
|
||||
/* __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SREG__ \n\t" \
|
||||
"cli \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, 0x3B \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"push __zero_reg__ \n\t" \
|
||||
"clr __zero_reg__ \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 __tmp_reg__, __SP_L__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SP_H__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#else /* if defined( __AVR_3_BYTE_PC__ ) && defined( __AVR_HAVE_RAMPZ__ ) */
|
||||
/* 2-Byte PC Save */
|
||||
#define portSAVE_CONTEXT() \
|
||||
/* __asm__ __volatile__ ( "push __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SREG__ \n\t" \
|
||||
"cli \n\t" \
|
||||
"push __tmp_reg__ \n\t" \
|
||||
"push __zero_reg__ \n\t" \
|
||||
"clr __zero_reg__ \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 __tmp_reg__, __SP_L__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
"in __tmp_reg__, __SP_H__ \n\t" \
|
||||
"st x+, __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#endif /* if defined( __AVR_3_BYTE_PC__ ) && defined( __AVR_HAVE_RAMPZ__ ) */
|
||||
|
||||
/*
|
||||
* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
||||
* the context save so we can write to the stack pointer.
|
||||
*/
|
||||
// todo здесь что-то одно оставить и адаптировать под нас
|
||||
#if defined(__AVR_3_BYTE_PC__) && defined(__AVR_HAVE_RAMPZ__)
|
||||
/* 3-Byte PC Restore with RAMPZ */
|
||||
#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 __zero_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out 0x3C, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out 0x3B, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out __SREG__, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#elif defined(__AVR_HAVE_RAMPZ__)
|
||||
/* 2-Byte PC Restore with RAMPZ */
|
||||
#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 __zero_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out 0x3B, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out __SREG__, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#else /* if defined( __AVR_3_BYTE_PC__ ) && defined( __AVR_HAVE_RAMPZ__ ) */
|
||||
/* 2-Byte PC Restore */
|
||||
#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 __zero_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
"out __SREG__, __tmp_reg__ \n\t" \
|
||||
"pop __tmp_reg__ \n\t" \
|
||||
);*/
|
||||
#endif /* if defined( __AVR_3_BYTE_PC__ ) && defined( __AVR_HAVE_RAMPZ__ ) */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Perform hardware setup to enable ticks from relevant Timer.
|
||||
*/
|
||||
void prvSetupTimerInterrupt( void );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
||||
TaskFunction_t pxCode,
|
||||
void * pvParameters )
|
||||
{
|
||||
uint16_t usAddress;
|
||||
|
||||
/* Simulate how the stack would look after a call to vPortYield() generated by
|
||||
* the compiler. */
|
||||
|
||||
/* 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--;
|
||||
|
||||
// todo проверить, что тут для нас нужно написать
|
||||
#if defined(__AVR_3_BYTE_PC__)
|
||||
|
||||
/* The AVR ATmega2560/ATmega2561 have 256KBytes of program memory and a 17-bit
|
||||
* program counter. When a code address is stored on the stack, it takes 3 bytes
|
||||
* instead of 2 for the other ATmega* chips.
|
||||
*
|
||||
* Store 0 as the top byte since we force all task routines to the bottom 128K
|
||||
* of flash. We do this by using the .lowtext label in the linker script.
|
||||
*
|
||||
* In order to do this properly, we would need to get a full 3-byte pointer to
|
||||
* pxCode. That requires a change to GCC. Not likely to happen any time soon.
|
||||
*/
|
||||
*pxTopOfStack = 0;
|
||||
pxTopOfStack--;
|
||||
#endif
|
||||
|
||||
/* 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--;
|
||||
|
||||
#if defined(__AVR_3_BYTE_PC__)
|
||||
|
||||
/* If we have an ATmega256x, we are also saving the EIND register.
|
||||
* We should default to 0.
|
||||
*/
|
||||
*pxTopOfStack = ( StackType_t ) 0x00; /* EIND */
|
||||
pxTopOfStack--;
|
||||
#endif
|
||||
|
||||
#if defined(__AVR_HAVE_RAMPZ__)
|
||||
|
||||
/* We are saving the RAMPZ register.
|
||||
* We should default to 0.
|
||||
*/
|
||||
*pxTopOfStack = ( StackType_t ) 0x00; /* RAMPZ */
|
||||
pxTopOfStack--;
|
||||
#endif
|
||||
|
||||
/* Now the remaining registers. The compiler expects R1 to be 0. */
|
||||
*pxTopOfStack = ( StackType_t ) 0x00; /* R1 */
|
||||
|
||||
/* Leave R2 - R23 untouched */
|
||||
pxTopOfStack -= 23;
|
||||
|
||||
/* 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 );
|
||||
|
||||
/* Leave register R26 - R31 untouched */
|
||||
pxTopOfStack -= 7;
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
BaseType_t xPortStartScheduler( void )
|
||||
{
|
||||
/* Setup the relevant timer 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 ATmega port will get stopped. If required simply
|
||||
* disable the tick interrupt here. */
|
||||
|
||||
// todo вставить свое
|
||||
// wdt_disable(); /* disable Watchdog Timer */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Choose which delay function to use.
|
||||
* Arduino delay() is a millisecond granularity busy wait, that
|
||||
* that breaks FreeRTOS. So its use is limited to less than one
|
||||
* System Tick (portTICK_PERIOD_MS milliseconds).
|
||||
* FreeRTOS vTaskDelay() is relies on the System Tick which here
|
||||
* has a granularity of portTICK_PERIOD_MS milliseconds (15ms),
|
||||
* with the remainder implemented as an Arduino delay().
|
||||
*/
|
||||
|
||||
#ifdef delay
|
||||
#undef delay
|
||||
#endif
|
||||
|
||||
extern void delay ( unsigned long ms );
|
||||
|
||||
#if defined( portUSE_WDTO )
|
||||
void vPortDelay( const uint32_t ms ) __attribute__ ( ( hot, flatten ) );
|
||||
void vPortDelay( const uint32_t ms )
|
||||
{
|
||||
// todo проверить
|
||||
if ( ms < portTICK_PERIOD_MS )
|
||||
{
|
||||
delay( (unsigned long) (ms) );
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskDelay( (TickType_t) (ms / portTICK_PERIOD_MS) );
|
||||
delay( (unsigned long) ( (ms - portTICK_PERIOD_MS) % portTICK_PERIOD_MS ) );
|
||||
}
|
||||
}
|
||||
#else
|
||||
#warning "The user is responsible to provide function `vPortDelay()`"
|
||||
#warning "Arduino uses all AVR MCU Timers, so breakage may occur"
|
||||
extern void vPortDelay( const uint32_t ms ) __attribute__ ( ( hot, flatten ) );
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Manual context switch. The first thing we do is save the registers so we
|
||||
* can use a naked attribute.
|
||||
*/
|
||||
void vPortYield( void ) __attribute__( ( hot, flatten, naked ) );
|
||||
void vPortYield( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
vTaskSwitchContext();
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
__asm__ __volatile__ ( "ret" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Manual context switch callable from ISRs. The first thing we do is save
|
||||
* the registers so we can use a naked attribute.
|
||||
*/
|
||||
void vPortYieldFromISR( void ) __attribute__( ( hot, flatten, naked ) );
|
||||
void vPortYieldFromISR( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
vTaskSwitchContext();
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
// todo что тут?
|
||||
// __asm__ __volatile__ ( "reti" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* 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__( ( hot, flatten, naked ) );
|
||||
void vPortYieldFromTick( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
sleep_reset(); /* reset the sleep_mode() faster than sleep_disable(); */
|
||||
if( xTaskIncrementTick() != pdFALSE )
|
||||
{
|
||||
vTaskSwitchContext();
|
||||
}
|
||||
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
__asm__ __volatile__ ( "ret" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
// todo прописать свое
|
||||
#if defined( portUSE_WDTO )
|
||||
|
||||
/*
|
||||
* Setup WDT to generate a tick interrupt.
|
||||
*/
|
||||
void prvSetupTimerInterrupt( void )
|
||||
{
|
||||
/* reset watchdog */
|
||||
// wdt_reset();
|
||||
|
||||
/* set up WDT Interrupt (rather than the WDT Reset). */
|
||||
// wdt_interrupt_enable( portUSE_WDTO );
|
||||
}
|
||||
|
||||
#else
|
||||
#warning "The user is responsible to provide function `prvSetupTimerInterrupt()`"
|
||||
extern void prvSetupTimerInterrupt( void );
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
// todo что тут?
|
||||
#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.
|
||||
*
|
||||
* use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler.
|
||||
*
|
||||
*/
|
||||
//ISR( portSCHEDULER_ISR, ISR_NAKED ) __attribute__ ( ( hot, flatten ) );
|
||||
|
||||
/* ISR( portSCHEDULER_ISR, ISR_NAKED ISR_NOBLOCK ) __attribute__ ( ( hot, flatten ) );
|
||||
*/
|
||||
// ISR( portSCHEDULER_ISR )
|
||||
// {
|
||||
// vPortYieldFromTick();
|
||||
// __asm__ __volatile__ ( "reti" );
|
||||
// }
|
||||
#else /* if configUSE_PREEMPTION == 1 */
|
||||
|
||||
/*
|
||||
* 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();
|
||||
*
|
||||
* use ISR_NOBLOCK where there is an important timer running, that should preempt the scheduler.
|
||||
*/
|
||||
// ISR( portSCHEDULER_ISR ) __attribute__ ( ( hot, flatten ) );
|
||||
|
||||
/* ISR( portSCHEDULER_ISR, ISR_NOBLOCK ) __attribute__ ( ( hot, flatten ) );
|
||||
*/
|
||||
// ISR( portSCHEDULER_ISR )
|
||||
// {
|
||||
// xTaskIncrementTick();
|
||||
// }
|
||||
#endif /* if configUSE_PREEMPTION == 1 */
|
||||
@@ -1,131 +0,0 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.1.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* 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 portPOINTER_SIZE_TYPE uint16_t
|
||||
|
||||
typedef uint8_t StackType_t;
|
||||
typedef int8_t BaseType_t;
|
||||
typedef uint8_t UBaseType_t;
|
||||
|
||||
#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
|
||||
typedef uint16_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) ( 0xffffU )
|
||||
#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
|
||||
typedef uint32_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) ( 0xffffffffUL )
|
||||
#else
|
||||
#error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
// todo проверить
|
||||
#define portENTER_CRITICAL() \
|
||||
/*__asm__ __volatile__ ( \
|
||||
"in __tmp_reg__, __SREG__" "\n\t" \
|
||||
"cli" "\n\t" \
|
||||
"push __tmp_reg__" "\n\t" \
|
||||
::: "memory" \
|
||||
)*/
|
||||
|
||||
// todo проверить
|
||||
#define portEXIT_CRITICAL() \
|
||||
/*__asm__ __volatile__ ( \
|
||||
"pop __tmp_reg__" "\n\t" \
|
||||
"out __SREG__, __tmp_reg__" "\n\t" \
|
||||
::: "memory" \
|
||||
)*/
|
||||
|
||||
// todo проверить
|
||||
#define portDISABLE_INTERRUPTS() /*__asm__ __volatile__ ( "cli" ::: "memory" )*/
|
||||
#define portENABLE_INTERRUPTS() /*__asm__ __volatile__ ( "sei" ::: "memory" )*/
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
// todo проверить
|
||||
#define sleep_reset() /*do { _SLEEP_CONTROL_REG = 0; } while(0)*/ /* reset all sleep_mode() configurations. */
|
||||
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portBYTE_ALIGNMENT 1
|
||||
#define portNOP() __asm__ __volatile__ ( "nop" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Kernel utilities. */
|
||||
|
||||
extern void vPortDelay( const uint32_t ms );
|
||||
#define portDELAY( ms ) vPortDelay( ms )
|
||||
|
||||
extern void vPortYield( void ) __attribute__( ( naked ) );
|
||||
#define portYIELD() vPortYield()
|
||||
|
||||
extern void vPortYieldFromISR( void ) __attribute__( ( naked ) );
|
||||
#define portYIELD_FROM_ISR() vPortYieldFromISR()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if defined( __AVR_3_BYTE_PC__ )
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
|
||||
/* Add .lowtext tag from the avr linker script avr6.x for ATmega2560 and ATmega2561
|
||||
* to make sure functions are loaded in low memory.
|
||||
*/
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) __attribute__( ( section( ".lowtext" ) ) )
|
||||
#else
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
#endif
|
||||
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
@@ -1,223 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2024 Phillip Stevens All Rights Reserved.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
*
|
||||
* This file is NOT part of the FreeRTOS distribution.
|
||||
*
|
||||
*/
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
#include <Arduino.h>
|
||||
|
||||
/* FreeRTOS includes. */
|
||||
#include "Arduino_FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "timers.h"
|
||||
|
||||
extern void setup(void);
|
||||
extern void loop(void);
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void initVariant(void) __attribute__ ((OS_main));
|
||||
|
||||
void initVariant(void)
|
||||
{
|
||||
// todo что с этим?
|
||||
// // As the Task stacks are on heap before Task allocated heap variables,
|
||||
// // the library default __malloc_heap_end = 0 doesn't work.
|
||||
// __malloc_heap_end = (char *)(RAMEND - __malloc_margin);
|
||||
|
||||
setup(); // the normal Arduino setup() function is run here.
|
||||
post_init();
|
||||
vTaskStartScheduler(); // initialise and run the freeRTOS scheduler. Execution should never return here.
|
||||
}
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
#if ( configUSE_IDLE_HOOK == 1 )
|
||||
/*
|
||||
* Call the user defined loop() function from within the idle task.
|
||||
* This allows the application designer to add background functionality
|
||||
* without the overhead of a separate task.
|
||||
*
|
||||
* NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
|
||||
*
|
||||
*/
|
||||
void vApplicationIdleHook( void ) __attribute__ ((weak));
|
||||
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
loop(); // the normal Arduino loop() function is run here.
|
||||
}
|
||||
|
||||
#else
|
||||
void loop() {} //Empty loop function
|
||||
#endif /* configUSE_IDLE_HOOK == 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( configUSE_MALLOC_FAILED_HOOK == 1 || configCHECK_FOR_STACK_OVERFLOW >= 1 || configDEFAULT_ASSERT == 1 )
|
||||
|
||||
/**
|
||||
* Private function to enable board led to use it in application hooks
|
||||
*/
|
||||
void prvSetMainLedOn( void )
|
||||
{
|
||||
#if defined (LED_BUILTIN)
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
digitalWrite(LED_BUILTIN, HIGH);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* Private function to blink board led to use it in application hooks
|
||||
*/
|
||||
void prvBlinkMainLed( void )
|
||||
{
|
||||
#if defined (LED_BUILTIN)
|
||||
digitalToggle(LED_BUILTIN);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
|
||||
/*---------------------------------------------------------------------------*\
|
||||
Usage:
|
||||
called by task system when a malloc failure is noticed
|
||||
Description:
|
||||
Malloc failure handler -- Shut down all interrupts, send serious complaint
|
||||
to command port. FAST Blink on main LED.
|
||||
Arguments:
|
||||
pxTask - pointer to task handle
|
||||
pcTaskName - pointer to task name
|
||||
Results:
|
||||
<none>
|
||||
Notes:
|
||||
This routine will never return.
|
||||
This routine is referenced in the task.c file of FreeRTOS as an extern.
|
||||
\*---------------------------------------------------------------------------*/
|
||||
void vApplicationMallocFailedHook( void ) __attribute__ ((weak));
|
||||
|
||||
void vApplicationMallocFailedHook( void )
|
||||
{
|
||||
prvSetMainLedOn(); // Main LED on.
|
||||
|
||||
for(;;)
|
||||
{
|
||||
delay(50);
|
||||
prvBlinkMainLed(); // Main LED fast blink.
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* configUSE_MALLOC_FAILED_HOOK == 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
#if ( configCHECK_FOR_STACK_OVERFLOW >= 1 )
|
||||
|
||||
void vApplicationStackOverflowHook( TaskHandle_t xTask,
|
||||
char * pcTaskName ) __attribute__ ((weak));
|
||||
|
||||
void vApplicationStackOverflowHook( TaskHandle_t xTask __attribute__ ((unused)),
|
||||
char * pcTaskName __attribute__ ((unused)) )
|
||||
{
|
||||
|
||||
prvSetMainLedOn(); // Main LED on.
|
||||
|
||||
for(;;)
|
||||
{
|
||||
// _delay_ms(2000);
|
||||
prvBlinkMainLed(); // Main LED slow blink.
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* configCHECK_FOR_STACK_OVERFLOW >= 1 */
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if ( configSUPPORT_STATIC_ALLOCATION >= 1 )
|
||||
|
||||
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
|
||||
StackType_t ** ppxIdleTaskStackBuffer,
|
||||
configSTACK_DEPTH_TYPE * puxIdleTaskStackSize ) __attribute__ ((weak));
|
||||
|
||||
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
|
||||
StackType_t ** ppxIdleTaskStackBuffer,
|
||||
configSTACK_DEPTH_TYPE * puxIdleTaskStackSize )
|
||||
{
|
||||
static StaticTask_t xIdleTaskTCB;
|
||||
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
|
||||
|
||||
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
|
||||
*ppxIdleTaskStackBuffer = uxIdleTaskStack;
|
||||
*puxIdleTaskStackSize = configMINIMAL_STACK_SIZE;
|
||||
}
|
||||
|
||||
#if ( configUSE_TIMERS >= 1 )
|
||||
|
||||
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
|
||||
StackType_t ** ppxTimerTaskStackBuffer,
|
||||
configSTACK_DEPTH_TYPE * puxTimerTaskStackSize ) __attribute__ ((weak));
|
||||
|
||||
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
|
||||
StackType_t ** ppxTimerTaskStackBuffer,
|
||||
configSTACK_DEPTH_TYPE * puxTimerTaskStackSize )
|
||||
{
|
||||
static StaticTask_t xTimerTaskTCB;
|
||||
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
|
||||
|
||||
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
|
||||
*ppxTimerTaskStackBuffer = uxTimerTaskStack;
|
||||
*puxTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
|
||||
}
|
||||
|
||||
#endif /* configUSE_TIMERS >= 1 */
|
||||
|
||||
#endif /* configSUPPORT_STATIC_ALLOCATION >= 1 */
|
||||
|
||||
/**
|
||||
* configASSERT default implementation
|
||||
*/
|
||||
#if configDEFAULT_ASSERT == 1
|
||||
|
||||
void vApplicationAssertHook() {
|
||||
|
||||
taskDISABLE_INTERRUPTS(); // Disable task interrupts
|
||||
|
||||
prvSetMainLedOn(); // Main LED on.
|
||||
for(;;)
|
||||
{
|
||||
// todo тут тоже заменить
|
||||
delay(100);
|
||||
prvBlinkMainLed(); // Led off.
|
||||
|
||||
delay(2000);
|
||||
prvBlinkMainLed(); // Led on.
|
||||
|
||||
delay(100);
|
||||
prvBlinkMainLed(); // Led off
|
||||
|
||||
delay(100);
|
||||
prvBlinkMainLed(); // Led on.
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,207 @@
|
||||
/*
|
||||
* FreeRTOS Kernel V11.1.0
|
||||
* 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
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* 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. */
|
||||
#if __riscv_xlen == 64
|
||||
#define portSTACK_TYPE uint64_t
|
||||
#define portBASE_TYPE int64_t
|
||||
#define portUBASE_TYPE uint64_t
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffffffffffUL
|
||||
#define portPOINTER_SIZE_TYPE uint64_t
|
||||
#elif __riscv_xlen == 32
|
||||
#define portSTACK_TYPE uint32_t
|
||||
#define portBASE_TYPE int32_t
|
||||
#define portUBASE_TYPE uint32_t
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||
#else /* if __riscv_xlen == 64 */
|
||||
#error "Assembler did not define __riscv_xlen"
|
||||
#endif /* if __riscv_xlen == 64 */
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef portBASE_TYPE BaseType_t;
|
||||
typedef portUBASE_TYPE UBaseType_t;
|
||||
typedef portUBASE_TYPE TickType_t;
|
||||
|
||||
/* Legacy type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
|
||||
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
|
||||
* not need to be guarded with a critical section. */
|
||||
#define portTICK_TYPE_IS_ATOMIC 1
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
// todo так оставить?
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#ifdef __riscv_32e
|
||||
#define portBYTE_ALIGNMENT 8 /* RV32E uses RISC-V EABI with reduced stack alignment requirements */
|
||||
#else
|
||||
#define portBYTE_ALIGNMENT 16
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Scheduler utilities. */
|
||||
extern void vTaskSwitchContext( void );
|
||||
#define portYIELD() __asm volatile ( "ecall" );
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) \
|
||||
do \
|
||||
{ \
|
||||
if( xSwitchRequired != pdFALSE ) \
|
||||
{ \
|
||||
traceISR_EXIT_TO_SCHEDULER(); \
|
||||
vTaskSwitchContext(); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
traceISR_EXIT(); \
|
||||
} \
|
||||
} while( 0 )
|
||||
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
#define portCRITICAL_NESTING_IN_TCB 0
|
||||
|
||||
#define portDISABLE_INTERRUPTS() __asm volatile ( "csrc mstatus, 8" )
|
||||
#define portENABLE_INTERRUPTS() __asm volatile ( "csrs mstatus, 8" )
|
||||
|
||||
extern size_t xCriticalNesting;
|
||||
#define portENTER_CRITICAL() \
|
||||
{ \
|
||||
portDISABLE_INTERRUPTS(); \
|
||||
xCriticalNesting++; \
|
||||
}
|
||||
|
||||
#define portEXIT_CRITICAL() \
|
||||
{ \
|
||||
xCriticalNesting--; \
|
||||
if( xCriticalNesting == 0 ) \
|
||||
{ \
|
||||
portENABLE_INTERRUPTS(); \
|
||||
} \
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specific optimisations. */
|
||||
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
|
||||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#endif
|
||||
|
||||
#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 )
|
||||
|
||||
/* Check the configuration. */
|
||||
#if ( configMAX_PRIORITIES > 32 )
|
||||
#error "configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice."
|
||||
#endif
|
||||
|
||||
/* Store/clear the ready priorities in a bit map. */
|
||||
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
|
||||
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - __builtin_clz( uxReadyPriorities ) )
|
||||
|
||||
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. These are
|
||||
* not necessary for to use this port. They are defined so the common demo
|
||||
* files (which build with all the ports) will build. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portNOP() __asm volatile ( " nop " )
|
||||
#define portINLINE __inline
|
||||
|
||||
#ifndef portFORCE_INLINE
|
||||
#define portFORCE_INLINE inline __attribute__( ( always_inline ) )
|
||||
#endif
|
||||
|
||||
#define portMEMORY_BARRIER() __asm volatile ( "" ::: "memory" )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* configCLINT_BASE_ADDRESS is a legacy definition that was replaced by the
|
||||
* configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS definitions. For
|
||||
* backward compatibility derive the newer definitions from the old if the old
|
||||
* definition is found. */
|
||||
#if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 )
|
||||
|
||||
/* Legacy case where configCLINT_BASE_ADDRESS was defined as 0 to indicate
|
||||
* there was no CLINT. Equivalent now is to set the MTIME and MTIMECMP
|
||||
* addresses to 0. */
|
||||
#define configMTIME_BASE_ADDRESS ( 0 )
|
||||
#define configMTIMECMP_BASE_ADDRESS ( 0 )
|
||||
#elif defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS )
|
||||
|
||||
/* Legacy case where configCLINT_BASE_ADDRESS was set to the base address of
|
||||
* the CLINT. Equivalent now is to derive the MTIME and MTIMECMP addresses
|
||||
* from the CLINT address. */
|
||||
#define configMTIME_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0xBFF8UL )
|
||||
#define configMTIMECMP_BASE_ADDRESS ( ( configCLINT_BASE_ADDRESS ) + 0x4000UL )
|
||||
#elif !defined( configMTIME_BASE_ADDRESS ) || !defined( configMTIMECMP_BASE_ADDRESS )
|
||||
#error "configMTIME_BASE_ADDRESS and configMTIMECMP_BASE_ADDRESS must be defined in FreeRTOSConfig.h. Set them to zero if there is no MTIME (machine time) clock. See www.FreeRTOS.org/Using-FreeRTOS-on-RISC-V.html"
|
||||
#endif /* if defined( configCLINT_BASE_ADDRESS ) && !defined( configMTIME_BASE_ADDRESS ) && ( configCLINT_BASE_ADDRESS == 0 ) */
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
Reference in new issue
Block a user