196 lines
7.9 KiB
C
196 lines
7.9 KiB
C
/*
|
|
* FreeRTOS Kernel V10.3.1
|
|
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. 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.
|
|
*
|
|
* http://www.FreeRTOS.org
|
|
* http://aws.amazon.com/freertos
|
|
*
|
|
* 1 tab == 4 spaces!
|
|
*/
|
|
|
|
/*-----------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for the RISC-V RV32 port.
|
|
*----------------------------------------------------------*/
|
|
|
|
/* Scheduler includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "portmacro.h"
|
|
|
|
/* Standard includes. */
|
|
#include "string.h"
|
|
|
|
#include "include/timer.h"
|
|
|
|
/* Let the user override the pre-loading of the initial LR with the address of
|
|
prvTaskExitError() in case it messes up unwinding of the stack in the
|
|
debugger. */
|
|
#ifdef configTASK_RETURN_ADDRESS
|
|
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
|
|
#else
|
|
#define portTASK_RETURN_ADDRESS prvTaskExitError
|
|
#endif
|
|
|
|
/* The stack used by interrupt service routines. Set configISR_STACK_SIZE_WORDS
|
|
to use a statically allocated array as the interrupt stack. Alternative leave
|
|
configISR_STACK_SIZE_WORDS undefined and update the linker script so that a
|
|
linker variable names __freertos_irq_stack_top has the same value as the top
|
|
of the stack used by main. Using the linker script method will repurpose the
|
|
stack that was used by main before the scheduler was started for use as the
|
|
interrupt stack after the scheduler has started. */
|
|
#ifdef configISR_STACK_SIZE_WORDS
|
|
static __attribute__ ((aligned(16))) StackType_t xISRStack[ configISR_STACK_SIZE_WORDS ] = { 0 };
|
|
const StackType_t xISRStackTop = ( StackType_t ) &( xISRStack[ configISR_STACK_SIZE_WORDS & ~portBYTE_ALIGNMENT_MASK ] );
|
|
|
|
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
|
|
the task stacks, and so will legitimately appear in many positions within
|
|
the ISR stack. */
|
|
#define portISR_STACK_FILL_BYTE 0xee
|
|
#else
|
|
extern const uint32_t __freertos_irq_stack_top[];
|
|
const StackType_t xISRStackTop = ( StackType_t ) __freertos_irq_stack_top;
|
|
#endif
|
|
|
|
/*
|
|
* Setup the timer to generate the tick interrupts. The implementation in this
|
|
* file is weak to allow application writers to change the timer used to
|
|
* generate the tick interrupt.
|
|
*/
|
|
void vPortSetupTimerInterrupt( void ) __attribute__(( weak ));
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/* Used to program the machine timer compare register. */
|
|
//uint64_t ullNextTime = 0ULL;
|
|
//const uint64_t *pullNextTime = &ullNextTime;
|
|
const size_t uxTimerIncrementsForOneTick = ( size_t ) ( ( configCPU_CLOCK_HZ ) / ( configTICK_RATE_HZ ) ); /* Assumes increment won't go over 32-bits. */
|
|
//uint32_t const ullMachineTimerCompareRegisterBase = configMTIMECMP_BASE_ADDRESS;
|
|
//volatile uint64_t * pullMachineTimerCompareRegister = NULL;
|
|
|
|
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
|
|
stack checking. A problem in the ISR stack will trigger an assert, not call the
|
|
stack overflow hook function (because the stack overflow hook is specific to a
|
|
task stack, not the ISR stack). */
|
|
#if defined( configISR_STACK_SIZE_WORDS ) && ( configCHECK_FOR_STACK_OVERFLOW > 2 )
|
|
#warning This path not tested, or even compiled yet.
|
|
|
|
static const uint8_t ucExpectedStackBytes[] = {
|
|
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
|
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
|
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
|
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
|
|
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \
|
|
|
|
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
|
|
#else
|
|
/* Define the function away. */
|
|
#define portCHECK_ISR_STACK()
|
|
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
|
|
|
|
/*-----------------------------------------------------------*/
|
|
void vPortSetupTimerInterrupt( void )
|
|
{
|
|
#if 0
|
|
uint32_t ulCurrentTimeHigh, ulCurrentTimeLow;
|
|
volatile uint32_t * const pulTimeHigh = ( volatile uint32_t * const ) ( ( configMTIME_BASE_ADDRESS ) + 4UL ); /* 8-byte typer so high 32-bit word is 4 bytes up. */
|
|
volatile uint32_t * const pulTimeLow = ( volatile uint32_t * const ) ( configMTIME_BASE_ADDRESS );
|
|
volatile uint32_t ulHartId;
|
|
|
|
__asm volatile( "csrr %0, mhartid" : "=r"( ulHartId ) );
|
|
pullMachineTimerCompareRegister = ( volatile uint64_t * ) ( ullMachineTimerCompareRegisterBase + ( ulHartId * sizeof( uint64_t ) ) );
|
|
|
|
do
|
|
{
|
|
ulCurrentTimeHigh = *pulTimeHigh;
|
|
ulCurrentTimeLow = *pulTimeLow;
|
|
} while( ulCurrentTimeHigh != *pulTimeHigh );
|
|
|
|
ullNextTime = ( uint64_t ) ulCurrentTimeHigh;
|
|
ullNextTime <<= 32ULL; /* High 4-byte word is 32-bits up. */
|
|
ullNextTime |= ( uint64_t ) ulCurrentTimeLow;
|
|
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
|
|
*pullMachineTimerCompareRegister = ullNextTime;
|
|
|
|
/* Prepare the time to use after the next tick interrupt. */
|
|
ullNextTime += ( uint64_t ) uxTimerIncrementsForOneTick;
|
|
#endif
|
|
|
|
#ifdef SIMULATION
|
|
TIMER0_REG(TIMER0_VALUE) = 500;
|
|
#else
|
|
TIMER0_REG(TIMER0_VALUE) = uxTimerIncrementsForOneTick;
|
|
#endif
|
|
TIMER0_REG(TIMER0_CTRL) = 0x07; // enable interrupt and start timer
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void xPortClearTimerIntPending()
|
|
{
|
|
TIMER0_REG(TIMER0_CTRL) |= (1 << 2) | (1 << 0); // clear int pending
|
|
}
|
|
|
|
BaseType_t xPortStartScheduler( void )
|
|
{
|
|
extern void xPortStartFirstTask( void );
|
|
|
|
#if( configASSERT_DEFINED == 1 )
|
|
{
|
|
//volatile uint32_t mtvec = 0;
|
|
|
|
/* Check the least significant two bits of mtvec are 00 - indicating
|
|
single vector mode. */
|
|
//__asm volatile( "csrr %0, mtvec" : "=r"( mtvec ) );
|
|
//configASSERT( ( mtvec & 0x03UL ) == 0 );
|
|
|
|
/* Check alignment of the interrupt stack - which is the same as the
|
|
stack that was being used by main() prior to the scheduler being
|
|
started. */
|
|
//configASSERT( ( xISRStackTop & portBYTE_ALIGNMENT_MASK ) == 0 );
|
|
|
|
#ifdef configISR_STACK_SIZE_WORDS
|
|
{
|
|
memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
|
|
}
|
|
#endif /* configISR_STACK_SIZE_WORDS */
|
|
}
|
|
#endif /* configASSERT_DEFINED */
|
|
|
|
/* If there is a CLINT then it is ok to use the default implementation
|
|
in this file, otherwise vPortSetupTimerInterrupt() must be implemented to
|
|
configure whichever clock is to be used to generate the tick interrupt. */
|
|
vPortSetupTimerInterrupt();
|
|
|
|
/* Enable external interrupts. */
|
|
//__asm volatile( "csrs mie, %0" :: "r"(0x800) );
|
|
|
|
xPortStartFirstTask();
|
|
|
|
/* Should not get here as after calling xPortStartFirstTask() only tasks
|
|
should be executing. */
|
|
return pdFAIL;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortEndScheduler( void )
|
|
{
|
|
/* Not implemented. */
|
|
for( ;; );
|
|
}
|