xref: /Kernel-v10.6.2/portable/ThirdParty/GCC/ARC_EM_HS/port.c (revision ef7b253b56c9788077f5ecd6c9deb4021923d646) 
1 /*
2  * FreeRTOS Kernel V10.6.2
3  * Copyright (C) 2020 Synopsys, 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
31  */
32 
33 #include "FreeRTOS.h"
34 #include "task.h"
35 #include "FreeRTOSConfig.h"
36 
37 #include "arc/arc_exception.h"
38 #include "arc/arc_timer.h"
39 #include "board.h"
40 
41 #include "arc_freertos_exceptions.h"
42 
43 volatile unsigned int ulCriticalNesting = 999UL;
44 volatile unsigned int context_switch_reqflg; /* task context switch request flag in exceptions and interrupts handling */
45 
46 /**
47  * \var exc_nest_count
48  * \brief the counter for exc/int processing, =0 no int/exc
49  * >1 in int/exc processing
50  * @}
51  */
52 uint32_t exc_nest_count;
53 /* --------------------------------------------------------------------------*/
54 
55 /**
56  * @brief kernel tick interrupt handler of freertos
57  */
58 /* ----------------------------------------------------------------------------*/
vKernelTick(void * ptr)59 static void vKernelTick( void * ptr )
60 {
61     /* clear timer interrupt */
62     arc_timer_int_clear( BOARD_OS_TIMER_ID );
63     board_timer_update( configTICK_RATE_HZ );
64 
65     if( xTaskIncrementTick() )
66     {
67         portYIELD_FROM_ISR(); /* need to make task switch */
68     }
69 }
70 
71 /* --------------------------------------------------------------------------*/
72 
73 /**
74  * @brief  setup freertos kernel tick
75  */
76 /* ----------------------------------------------------------------------------*/
prvSetupTimerInterrupt(void)77 static void prvSetupTimerInterrupt( void )
78 {
79     unsigned int cyc = configCPU_CLOCK_HZ / configTICK_RATE_HZ;
80 
81     int_disable( BOARD_OS_TIMER_INTNO ); /* disable os timer interrupt */
82     arc_timer_stop( BOARD_OS_TIMER_ID );
83     arc_timer_start( BOARD_OS_TIMER_ID, TIMER_CTRL_IE | TIMER_CTRL_NH, cyc );
84 
85     int_handler_install( BOARD_OS_TIMER_INTNO, ( INT_HANDLER_T ) vKernelTick );
86     int_pri_set( BOARD_OS_TIMER_INTNO, INT_PRI_MIN );
87     int_enable( BOARD_OS_TIMER_INTNO );
88 }
89 
90 /*
91  * Setup the stack of a new task so it is ready to be placed under the
92  * scheduler control.  The registers have to be placed on the stack in
93  * the order that the port expects to find them.
94  *
95  * For ARC, task context switch is implemented with the help of SWI exception
96  * It's not efficient but simple.
97  *
98  */
pxPortInitialiseStack(StackType_t * pxTopOfStack,TaskFunction_t pxCode,void * pvParameters)99 StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
100                                      TaskFunction_t pxCode,
101                                      void * pvParameters )
102 {
103     /* To ensure asserts in tasks.c don't fail, although in this case the assert
104      * is not really required. */
105     pxTopOfStack--;
106 
107     /* Setup the initial stack of the task.  The stack is set exactly as
108      * expected by the portRESTORE_CONTEXT() macro. */
109 
110     /* When the task starts is will expect to find the function parameter in
111      * R0. */
112     *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
113 
114     pxTopOfStack--;
115     *pxTopOfStack = ( StackType_t ) pxCode; /* function body */
116 
117     /* PC */
118     pxTopOfStack--;
119     *pxTopOfStack = ( StackType_t ) start_r; /* dispatch return address */
120 
121     pxTopOfStack--;
122     *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_NESTING;
123     return pxTopOfStack;
124 }
125 
126 /* --------------------------------------------------------------------------*/
127 
128 /**
129  * @brief  start the freertos scheduler, go to the first task
130  *
131  * @returns
132  */
133 /* ----------------------------------------------------------------------------*/
xPortStartScheduler(void)134 BaseType_t xPortStartScheduler( void )
135 {
136     /* Start the timer that generates the tick ISR. */
137     prvSetupTimerInterrupt();
138     start_dispatch();
139 
140     /* Should not get here! */
141     return 0;
142 }
143 
144 /* --------------------------------------------------------------------------*/
145 
146 /**
147  * @brief
148  */
149 /* ----------------------------------------------------------------------------*/
vPortEndScheduler(void)150 void vPortEndScheduler( void )
151 {
152 }
153 
154 /* --------------------------------------------------------------------------*/
155 
156 /**
157  * @brief  generate a task switch request in ISR
158  */
159 /* ----------------------------------------------------------------------------*/
vPortYieldFromIsr(void)160 void vPortYieldFromIsr( void )
161 {
162     unsigned int status32;
163 
164     status32 = cpu_lock_save();
165     context_switch_reqflg = true;
166     cpu_unlock_restore( status32 );
167 }
168 
169 /* --------------------------------------------------------------------------*/
170 
171 /**
172  * @brief
173  */
174 /* ----------------------------------------------------------------------------*/
vPortYield(void)175 void vPortYield( void )
176 {
177     unsigned int status32;
178 
179     status32 = cpu_lock_save();
180     dispatch();
181     cpu_unlock_restore( status32 );
182 }
183 
184 /* --------------------------------------------------------------------------*/
185 
186 /**
187  * @brief
188  */
189 /* ----------------------------------------------------------------------------*/
vPortEndTask(void)190 void vPortEndTask( void )
191 {
192     #if ( INCLUDE_vTaskDelete == 1 )
193         vTaskDelete( NULL ); /* Delete task itself */
194     #endif
195 
196     while( 1 ) /* Yield to other task */
197     {
198         vPortYield();
199     }
200 }
201 
202 #if ARC_FEATURE_STACK_CHECK
203 
204 /*
205  * !!! Note !!!
206  * This a trick!!!
207  * It's a copy from task.c. We need to konw the definition of TCB for the purpose of hardware
208  * stack check. Pls don't forget to update it when FreeRTOS is updated.
209  */
210     typedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
211     {
212         volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
213 
214         #if ( portUSING_MPU_WRAPPERS == 1 )
215             xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
216         #endif
217 
218         ListItem_t xStateListItem;                  /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
219         ListItem_t xEventListItem;                  /*< Used to reference a task from an event list. */
220         UBaseType_t uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */
221         StackType_t * pxStack;                      /*< Points to the start of the stack. */
222         char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
223 
224         #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
225             StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
226         #endif
227 
228         #if ( portCRITICAL_NESTING_IN_TCB == 1 )
229             UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
230         #endif
231 
232         #if ( configUSE_TRACE_FACILITY == 1 )
233             UBaseType_t uxTCBNumber;  /*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
234             UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
235         #endif
236 
237         #if ( configUSE_MUTEXES == 1 )
238             UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
239             UBaseType_t uxMutexesHeld;
240         #endif
241 
242         #if ( configUSE_APPLICATION_TASK_TAG == 1 )
243             TaskHookFunction_t pxTaskTag;
244         #endif
245 
246         #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
247             void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
248         #endif
249 
250         #if ( configGENERATE_RUN_TIME_STATS == 1 )
251             uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
252         #endif
253 
254         #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
255             configTLS_BLOCK_TYPE xTLSBlock; /*< Memory block used as Thread Local Storage (TLS) Block for the task. */
256         #endif
257 
258         #if ( configUSE_TASK_NOTIFICATIONS == 1 )
259             volatile uint32_t ulNotifiedValue;
260             volatile uint8_t ucNotifyState;
261         #endif
262 
263         /* See the comments above the definition of
264          * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
265         #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
266             uint8_t ucStaticallyAllocated;                     /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
267         #endif
268 
269         #if ( INCLUDE_xTaskAbortDelay == 1 )
270             uint8_t ucDelayAborted;
271         #endif
272 
273         #if ( configUSE_POSIX_ERRNO == 1 )
274             int iTaskErrno;
275         #endif
276     } tskTCB;
277 
278 
vPortSetStackCheck(TaskHandle_t old,TaskHandle_t new)279     void vPortSetStackCheck( TaskHandle_t old,
280                              TaskHandle_t new )
281     {
282         if( new != NULL )
283         {
284             #if ARC_FEATURE_SEC_PRESENT
285                 arc_aux_write( AUX_S_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) );
286                 arc_aux_write( AUX_S_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) );
287             #else
288                 arc_aux_write( AUX_KSTACK_BASE, ( uint32_t ) ( new->pxEndOfStack ) );
289                 arc_aux_write( AUX_KSTACK_TOP, ( uint32_t ) ( new->pxStack ) );
290             #endif
291         }
292     }
293 #endif /* if ARC_FEATURE_STACK_CHECK */
294