【添加】FreeRTOS Demo
This commit is contained in:
Maofeng
@@ -0,0 +1,345 @@
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/*
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FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
|
||||
|
||||
***************************************************************************
|
||||
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
||||
>>! distribute a combined work that includes FreeRTOS without being !<<
|
||||
>>! obliged to provide the source code for proprietary components !<<
|
||||
>>! outside of the FreeRTOS kernel. !<<
|
||||
***************************************************************************
|
||||
|
||||
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
||||
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
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||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
|
||||
1 tab == 4 spaces!
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the H8S port.
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*----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/* When the task starts interrupts should be enabled. */
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#define portINITIAL_CCR ( ( StackType_t ) 0x00 )
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/* Hardware specific constants used to generate the RTOS tick from the TPU. */
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#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 )
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#define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 )
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#define portCLOCK_DIV ( ( uint32_t ) 64 )
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#define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 )
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#define portTIMER_CHANNEL ( ( uint8_t ) 0x02 )
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#define portMSTP13 ( ( uint16_t ) 0x2000 )
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/*
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* Setup TPU channel one for the RTOS tick at the requested frequency.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* The ISR used by portYIELD(). This is installed as a trap handler.
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*/
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void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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{
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uint32_t ulValue;
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/* This requires an even address. */
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ulValue = ( uint32_t ) pxTopOfStack;
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if( ulValue & 1UL )
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{
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pxTopOfStack = pxTopOfStack - 1;
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}
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/* Place a few bytes of known values on the bottom of the stack.
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This is just useful for debugging. */
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pxTopOfStack--;
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*pxTopOfStack = 0xaa;
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pxTopOfStack--;
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*pxTopOfStack = 0xbb;
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pxTopOfStack--;
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*pxTopOfStack = 0xcc;
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pxTopOfStack--;
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*pxTopOfStack = 0xdd;
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/* The initial stack mimics an interrupt stack. First there is the program
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counter (24 bits). */
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ulValue = ( uint32_t ) pxCode;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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pxTopOfStack--;
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ulValue >>= 8UL;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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pxTopOfStack--;
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ulValue >>= 8UL;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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/* Followed by the CCR. */
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pxTopOfStack--;
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*pxTopOfStack = portINITIAL_CCR;
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/* Next all the general purpose registers - with the parameters being passed
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in ER0. The parameter order must match that used by the compiler when the
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"saveall" function attribute is used. */
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/* ER6 */
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pxTopOfStack--;
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*pxTopOfStack = 0x66;
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pxTopOfStack--;
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*pxTopOfStack = 0x66;
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pxTopOfStack--;
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*pxTopOfStack = 0x66;
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pxTopOfStack--;
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*pxTopOfStack = 0x66;
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/* ER0 */
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ulValue = ( uint32_t ) pvParameters;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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pxTopOfStack--;
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ulValue >>= 8UL;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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pxTopOfStack--;
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ulValue >>= 8UL;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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pxTopOfStack--;
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ulValue >>= 8UL;
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*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
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/* ER1 */
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pxTopOfStack--;
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*pxTopOfStack = 0x11;
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pxTopOfStack--;
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*pxTopOfStack = 0x11;
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pxTopOfStack--;
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*pxTopOfStack = 0x11;
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pxTopOfStack--;
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*pxTopOfStack = 0x11;
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/* ER2 */
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pxTopOfStack--;
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*pxTopOfStack = 0x22;
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pxTopOfStack--;
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*pxTopOfStack = 0x22;
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pxTopOfStack--;
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*pxTopOfStack = 0x22;
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pxTopOfStack--;
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*pxTopOfStack = 0x22;
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/* ER3 */
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pxTopOfStack--;
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*pxTopOfStack = 0x33;
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pxTopOfStack--;
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*pxTopOfStack = 0x33;
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pxTopOfStack--;
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*pxTopOfStack = 0x33;
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pxTopOfStack--;
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*pxTopOfStack = 0x33;
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/* ER4 */
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pxTopOfStack--;
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*pxTopOfStack = 0x44;
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pxTopOfStack--;
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*pxTopOfStack = 0x44;
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pxTopOfStack--;
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*pxTopOfStack = 0x44;
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pxTopOfStack--;
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*pxTopOfStack = 0x44;
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/* ER5 */
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pxTopOfStack--;
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*pxTopOfStack = 0x55;
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pxTopOfStack--;
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*pxTopOfStack = 0x55;
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pxTopOfStack--;
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*pxTopOfStack = 0x55;
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pxTopOfStack--;
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*pxTopOfStack = 0x55;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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extern void * pxCurrentTCB;
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/* Setup the hardware to generate the tick. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task that is going to run. This
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mirrors the function epilogue code generated by the compiler when the
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"saveall" function attribute is used. */
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asm volatile (
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"MOV.L @_pxCurrentTCB, ER6 \n\t"
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"MOV.L @ER6, ER7 \n\t"
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"LDM.L @SP+, (ER4-ER5) \n\t"
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"LDM.L @SP+, (ER0-ER3) \n\t"
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"MOV.L @ER7+, ER6 \n\t"
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"RTE \n\t"
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);
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( void ) pxCurrentTCB;
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/* Should not get here. */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the h8 port will get stopped. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. This is a trap handler. The "saveall" function
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* attribute is used so the context is saved by the compiler prologue. All
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* we have to do is save the stack pointer.
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*/
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void vPortYield( void )
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{
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portSAVE_STACK_POINTER();
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vTaskSwitchContext();
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portRESTORE_STACK_POINTER();
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}
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/*-----------------------------------------------------------*/
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/*
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* The interrupt handler installed for the RTOS tick depends on whether the
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* preemptive or cooperative scheduler is being used.
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*/
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#if( configUSE_PREEMPTION == 1 )
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/*
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* The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
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* The function prologue saves the context so all we have to do is save
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* the stack pointer.
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*/
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void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
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void vTickISR( void )
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{
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portSAVE_STACK_POINTER();
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if( xTaskIncrementTick() != pdFALSE )
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{
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vTaskSwitchContext();
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}
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/* Clear the interrupt. */
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TSR1 &= ~0x01;
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portRESTORE_STACK_POINTER();
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}
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#else
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/*
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* The cooperative scheduler is being used so all we have to do is
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* periodically increment the tick. This can just be a normal ISR and
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* the "saveall" attribute is not required.
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*/
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void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
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void vTickISR( void )
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{
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xTaskIncrementTick();
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/* Clear the interrupt. */
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TSR1 &= ~0x01;
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}
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#endif
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/*-----------------------------------------------------------*/
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/*
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* Setup timer 1 compare match to generate a tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;
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/* Turn the module on. */
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MSTPCR &= ~portMSTP13;
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/* Configure timer 1. */
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TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64;
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/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
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TGR1A = ulCompareMatch;
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|
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/* Start the timer and enable the interrupt - we can do this here as
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interrupts are globally disabled when this function is called. */
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TIER1 |= portTGRA_INTERRUPT_ENABLE;
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TSTR |= portTIMER_CHANNEL;
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}
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/*-----------------------------------------------------------*/
|
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|
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|
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|
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@@ -0,0 +1,180 @@
|
||||
/*
|
||||
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
|
||||
All rights reserved
|
||||
|
||||
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
||||
|
||||
This file is part of the FreeRTOS distribution.
|
||||
|
||||
FreeRTOS is free software; you can redistribute it and/or modify it under
|
||||
the terms of the GNU General Public License (version 2) as published by the
|
||||
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
|
||||
|
||||
***************************************************************************
|
||||
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
||||
>>! distribute a combined work that includes FreeRTOS without being !<<
|
||||
>>! obliged to provide the source code for proprietary components !<<
|
||||
>>! outside of the FreeRTOS kernel. !<<
|
||||
***************************************************************************
|
||||
|
||||
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
||||
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. Full license text is available on the following
|
||||
link: http://www.freertos.org/a00114.html
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS provides completely free yet professionally developed, *
|
||||
* robust, strictly quality controlled, supported, and cross *
|
||||
* platform software that is more than just the market leader, it *
|
||||
* is the industry's de facto standard. *
|
||||
* *
|
||||
* Help yourself get started quickly while simultaneously helping *
|
||||
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
||||
* tutorial book, reference manual, or both: *
|
||||
* http://www.FreeRTOS.org/Documentation *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
||||
the FAQ page "My application does not run, what could be wrong?". Have you
|
||||
defined configASSERT()?
|
||||
|
||||
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
||||
embedded software for free we request you assist our global community by
|
||||
participating in the support forum.
|
||||
|
||||
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
||||
be as productive as possible as early as possible. Now you can receive
|
||||
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
||||
Ltd, and the world's leading authority on the world's leading RTOS.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
||||
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
||||
|
||||
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
||||
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
||||
|
||||
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
||||
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
||||
licenses offer ticketed support, indemnification and commercial middleware.
|
||||
|
||||
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
||||
engineered and independently SIL3 certified version for use in safety and
|
||||
mission critical applications that require provable dependability.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
*/
|
||||
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Port specific definitions.
|
||||
*
|
||||
* The settings in this file configure FreeRTOS correctly for the
|
||||
* given hardware and compiler.
|
||||
*
|
||||
* These settings should not be altered.
|
||||
*-----------------------------------------------------------
|
||||
*/
|
||||
|
||||
/* Type definitions. */
|
||||
#define portCHAR char
|
||||
#define portFLOAT float
|
||||
#define portDOUBLE double
|
||||
#define portLONG long
|
||||
#define portSHORT short
|
||||
#define portSTACK_TYPE uint8_t
|
||||
#define portBASE_TYPE char
|
||||
|
||||
typedef portSTACK_TYPE StackType_t;
|
||||
typedef signed char BaseType_t;
|
||||
typedef unsigned char UBaseType_t;
|
||||
|
||||
#if( configUSE_16_BIT_TICKS == 1 )
|
||||
typedef uint16_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffff
|
||||
#else
|
||||
typedef uint32_t TickType_t;
|
||||
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
|
||||
#endif
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Hardware specifics. */
|
||||
#define portBYTE_ALIGNMENT 2
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portYIELD() asm volatile( "TRAPA #0" )
|
||||
#define portNOP() asm volatile( "NOP" )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section handling. */
|
||||
#define portENABLE_INTERRUPTS() asm volatile( "ANDC #0x7F, CCR" );
|
||||
#define portDISABLE_INTERRUPTS() asm volatile( "ORC #0x80, CCR" );
|
||||
|
||||
/* Push the CCR then disable interrupts. */
|
||||
#define portENTER_CRITICAL() asm volatile( "STC CCR, @-ER7" ); \
|
||||
portDISABLE_INTERRUPTS();
|
||||
|
||||
/* Pop the CCR to set the interrupt masking back to its previous state. */
|
||||
#define portEXIT_CRITICAL() asm volatile( "LDC @ER7+, CCR" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
|
||||
/* Context switch macros. These macros are very simple as the context
|
||||
is saved simply by selecting the saveall attribute of the context switch
|
||||
interrupt service routines. These macros save and restore the stack
|
||||
pointer to the TCB. */
|
||||
|
||||
#define portSAVE_STACK_POINTER() \
|
||||
extern void* pxCurrentTCB; \
|
||||
\
|
||||
asm volatile( \
|
||||
"MOV.L @_pxCurrentTCB, ER5 \n\t" \
|
||||
"MOV.L ER7, @ER5 \n\t" \
|
||||
); \
|
||||
( void ) pxCurrentTCB;
|
||||
|
||||
|
||||
#define portRESTORE_STACK_POINTER() \
|
||||
extern void* pxCurrentTCB; \
|
||||
\
|
||||
asm volatile( \
|
||||
"MOV.L @_pxCurrentTCB, ER5 \n\t" \
|
||||
"MOV.L @ER5, ER7 \n\t" \
|
||||
); \
|
||||
( void ) pxCurrentTCB;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Macros to allow a context switch from within an application ISR. */
|
||||
|
||||
#define portENTER_SWITCHING_ISR() portSAVE_STACK_POINTER(); {
|
||||
|
||||
#define portEXIT_SWITCHING_ISR( x ) \
|
||||
if( x ) \
|
||||
{ \
|
||||
extern void vTaskSwitchContext( void ); \
|
||||
vTaskSwitchContext(); \
|
||||
} \
|
||||
} portRESTORE_STACK_POINTER();
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Reference in New Issue
Block a user