1 /*
2 * FreeRTOS Kernel V11.1.0
3 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
4 *
5 * SPDX-License-Identifier: MIT
6 *
7 * Permission is hereby granted, free of charge, to any person obtaining a copy of
8 * this software and associated documentation files (the "Software"), to deal in
9 * the Software without restriction, including without limitation the rights to
10 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
11 * the Software, and to permit persons to whom the Software is furnished to do so,
12 * subject to the following conditions:
13 *
14 * The above copyright notice and this permission notice shall be included in all
15 * copies or substantial portions of the Software.
16 *
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
19 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
20 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
21 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
22 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 *
24 * https://www.FreeRTOS.org
25 * https://github.com/FreeRTOS
26 *
27 */
28
29 /*-----------------------------------------------------------
30 * Implementation of functions defined in portable.h for the PPC405 port.
31 *----------------------------------------------------------*/
32
33
34 /* Scheduler includes. */
35 #include "FreeRTOS.h"
36 #include "task.h"
37
38 /* Library includes. */
39 #include "xtime_l.h"
40 #include "xintc.h"
41 #include "xintc_i.h"
42
43 /*-----------------------------------------------------------*/
44
45 /* Definitions to set the initial MSR of each task. */
46 #define portCRITICAL_INTERRUPT_ENABLE ( 1UL << 17UL )
47 #define portEXTERNAL_INTERRUPT_ENABLE ( 1UL << 15UL )
48 #define portMACHINE_CHECK_ENABLE ( 1UL << 12UL )
49
50 #if configUSE_FPU == 1
51 #define portAPU_PRESENT ( 1UL << 25UL )
52 #define portFCM_FPU_PRESENT ( 1UL << 13UL )
53 #else
54 #define portAPU_PRESENT ( 0UL )
55 #define portFCM_FPU_PRESENT ( 0UL )
56 #endif
57
58 #define portINITIAL_MSR ( portCRITICAL_INTERRUPT_ENABLE | portEXTERNAL_INTERRUPT_ENABLE | portMACHINE_CHECK_ENABLE | portAPU_PRESENT | portFCM_FPU_PRESENT )
59
60
61 extern const unsigned _SDA_BASE_;
62 extern const unsigned _SDA2_BASE_;
63
64 /*-----------------------------------------------------------*/
65
66 /*
67 * Setup the system timer to generate the tick interrupt.
68 */
69 static void prvSetupTimerInterrupt( void );
70
71 /*
72 * The handler for the tick interrupt - defined in portasm.s.
73 */
74 extern void vPortTickISR( void );
75
76 /*
77 * The handler for the yield function - defined in portasm.s.
78 */
79 extern void vPortYield( void );
80
81 /*
82 * Function to start the scheduler running by starting the highest
83 * priority task that has thus far been created.
84 */
85 extern void vPortStartFirstTask( void );
86
87 /*-----------------------------------------------------------*/
88
89 /* Structure used to hold the state of the interrupt controller. */
90 static XIntc xInterruptController;
91
92 /*-----------------------------------------------------------*/
93
94 /*
95 * Initialise the stack of a task to look exactly as if the task had been
96 * interrupted.
97 *
98 * See the header file portable.h.
99 */
pxPortInitialiseStack(StackType_t * pxTopOfStack,TaskFunction_t pxCode,void * pvParameters)100 StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
101 TaskFunction_t pxCode,
102 void * pvParameters )
103 {
104 /* Place a known value at the bottom of the stack for debugging. */
105 *pxTopOfStack = 0xDEADBEEF;
106 pxTopOfStack--;
107
108 /* EABI stack frame. */
109 pxTopOfStack -= 20; /* Previous backchain and LR, R31 to R4 inclusive. */
110
111 /* Parameters in R13. */
112 *pxTopOfStack = ( StackType_t ) &_SDA_BASE_; /* address of the first small data area */
113 pxTopOfStack -= 10;
114
115 /* Parameters in R3. */
116 *pxTopOfStack = ( StackType_t ) pvParameters;
117 pxTopOfStack--;
118
119 /* Parameters in R2. */
120 *pxTopOfStack = ( StackType_t ) &_SDA2_BASE_; /* address of the second small data area */
121 pxTopOfStack--;
122
123 /* R1 is the stack pointer so is omitted. */
124
125 *pxTopOfStack = 0x10000001UL; /* R0. */
126 pxTopOfStack--;
127 *pxTopOfStack = 0x00000000UL; /* USPRG0. */
128 pxTopOfStack--;
129 *pxTopOfStack = 0x00000000UL; /* CR. */
130 pxTopOfStack--;
131 *pxTopOfStack = 0x00000000UL; /* XER. */
132 pxTopOfStack--;
133 *pxTopOfStack = 0x00000000UL; /* CTR. */
134 pxTopOfStack--;
135 *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* LR. */
136 pxTopOfStack--;
137 *pxTopOfStack = ( StackType_t ) pxCode; /* SRR0. */
138 pxTopOfStack--;
139 *pxTopOfStack = portINITIAL_MSR; /* SRR1. */
140 pxTopOfStack--;
141 *pxTopOfStack = ( StackType_t ) vPortEndScheduler; /* Next LR. */
142 pxTopOfStack--;
143 *pxTopOfStack = 0x00000000UL; /* Backchain. */
144
145 return pxTopOfStack;
146 }
147 /*-----------------------------------------------------------*/
148
xPortStartScheduler(void)149 BaseType_t xPortStartScheduler( void )
150 {
151 prvSetupTimerInterrupt();
152 XExc_RegisterHandler( XEXC_ID_SYSTEM_CALL, ( XExceptionHandler ) vPortYield, ( void * ) 0 );
153 vPortStartFirstTask();
154
155 /* Should not get here as the tasks are now running! */
156 return pdFALSE;
157 }
158 /*-----------------------------------------------------------*/
159
vPortEndScheduler(void)160 void vPortEndScheduler( void )
161 {
162 /* Not implemented. */
163 for( ; ; )
164 {
165 }
166 }
167 /*-----------------------------------------------------------*/
168
169 /*
170 * Hardware initialisation to generate the RTOS tick.
171 */
prvSetupTimerInterrupt(void)172 static void prvSetupTimerInterrupt( void )
173 {
174 const uint32_t ulInterval = ( ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
175
176 XTime_PITClearInterrupt();
177 XTime_FITClearInterrupt();
178 XTime_WDTClearInterrupt();
179 XTime_WDTDisableInterrupt();
180 XTime_FITDisableInterrupt();
181
182 XExc_RegisterHandler( XEXC_ID_PIT_INT, ( XExceptionHandler ) vPortTickISR, ( void * ) 0 );
183
184 XTime_PITEnableAutoReload();
185 XTime_PITSetInterval( ulInterval );
186 XTime_PITEnableInterrupt();
187 }
188 /*-----------------------------------------------------------*/
189
vPortISRHandler(void * pvNullDoNotUse)190 void vPortISRHandler( void * pvNullDoNotUse )
191 {
192 uint32_t ulInterruptStatus, ulInterruptMask = 1UL;
193 BaseType_t xInterruptNumber;
194 XIntc_Config * pxInterruptController;
195 XIntc_VectorTableEntry * pxTable;
196
197 /* Just to remove compiler warning. */
198 ( void ) pvNullDoNotUse;
199
200 /* Get the configuration by using the device ID - in this case it is
201 * assumed that only one interrupt controller is being used. */
202 pxInterruptController = &XIntc_ConfigTable[ XPAR_XPS_INTC_0_DEVICE_ID ];
203
204 /* Which interrupts are pending? */
205 ulInterruptStatus = XIntc_mGetIntrStatus( pxInterruptController->BaseAddress );
206
207 for( xInterruptNumber = 0; xInterruptNumber < XPAR_INTC_MAX_NUM_INTR_INPUTS; xInterruptNumber++ )
208 {
209 if( ulInterruptStatus & 0x01UL )
210 {
211 /* Clear the pending interrupt. */
212 XIntc_mAckIntr( pxInterruptController->BaseAddress, ulInterruptMask );
213
214 /* Call the registered handler. */
215 pxTable = &( pxInterruptController->HandlerTable[ xInterruptNumber ] );
216 pxTable->Handler( pxTable->CallBackRef );
217 }
218
219 /* Check the next interrupt. */
220 ulInterruptMask <<= 0x01UL;
221 ulInterruptStatus >>= 0x01UL;
222
223 /* Have we serviced all interrupts? */
224 if( ulInterruptStatus == 0UL )
225 {
226 break;
227 }
228 }
229 }
230 /*-----------------------------------------------------------*/
231
vPortSetupInterruptController(void)232 void vPortSetupInterruptController( void )
233 {
234 extern void vPortISRWrapper( void );
235
236 /* Perform all library calls necessary to initialise the exception table
237 * and interrupt controller. This assumes only one interrupt controller is in
238 * use. */
239 XExc_mDisableExceptions( XEXC_NON_CRITICAL );
240 XExc_Init();
241
242 /* The library functions save the context - we then jump to a wrapper to
243 * save the stack into the TCB. The wrapper then calls the handler defined
244 * above. */
245 XExc_RegisterHandler( XEXC_ID_NON_CRITICAL_INT, ( XExceptionHandler ) vPortISRWrapper, NULL );
246 XIntc_Initialize( &xInterruptController, XPAR_XPS_INTC_0_DEVICE_ID );
247 XIntc_Start( &xInterruptController, XIN_REAL_MODE );
248 }
249 /*-----------------------------------------------------------*/
250
xPortInstallInterruptHandler(uint8_t ucInterruptID,XInterruptHandler pxHandler,void * pvCallBackRef)251 BaseType_t xPortInstallInterruptHandler( uint8_t ucInterruptID,
252 XInterruptHandler pxHandler,
253 void * pvCallBackRef )
254 {
255 BaseType_t xReturn = pdFAIL;
256
257 /* This function is defined here so the scope of xInterruptController can
258 * remain within this file. */
259
260 if( XST_SUCCESS == XIntc_Connect( &xInterruptController, ucInterruptID, pxHandler, pvCallBackRef ) )
261 {
262 XIntc_Enable( &xInterruptController, ucInterruptID );
263 xReturn = pdPASS;
264 }
265
266 return xReturn;
267 }
268
