263 lines
8.9 KiB
C
263 lines
8.9 KiB
C
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/*
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FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution and was contributed
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to the project by Technolution B.V. (www.technolution.nl,
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freertos-riscv@technolution.eu) under the terms of the FreeRTOS
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contributors license.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the RISC-V port.
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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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#include "portmacro.h"
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#include <stdio.h>
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#define TIMER (*(uint64_t *)0x40004000)
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#define TIMER_CMP (*(uint64_t *)0x40004008)
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#define TRACE (*(unsigned char *)0x40000000)
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/* A variable is used to keep track of the critical section nesting. This
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variable has to be stored as part of the task context and must be initialised to
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a non zero value to ensure interrupts don't inadvertently become unmasked before
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the scheduler starts. As it is stored as part of the task context it will
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automatically be set to 0 when the first task is started. */
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static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
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/* Contains context when starting scheduler, save all 31 registers */
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#ifdef __gracefulExit
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BaseType_t xStartContext[31] = {0};
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#endif
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/*
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* Handler for timer interrupt
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*/
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void vPortSysTickHandler( void );
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/*
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* Setup the timer to generate the tick interrupts.
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*/
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void vPortSetupTimer( void );
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/*
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* Set the next interval for the timer
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*/
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static void prvSetNextTimerInterrupt( void );
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/*
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* Used to catch tasks that attempt to return from their implementing function.
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*/
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static void prvTaskExitError( void );
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int _write(int file, const char *ptr, int len) {
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int x;
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for (x = 0; x < len; x++) {
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TRACE = *ptr++;
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}
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return (len);
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}
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int _read(int file, char* ptr, int len) {
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}
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int _close(int fd){
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}
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int _fstat_r(int fd) {
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}
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int _lseek_r(struct _reent *ptr, FILE *fp, long offset, int whence){
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}
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int _isatty_r(struct _reent *ptr, int fd) {
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}
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void register_timer_isr() {
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printf("Registering ISR\n");
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asm volatile("la t0, TIMER_CMP_INT \n csrw mtvec, t0");
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asm volatile("li t1, 0x888 \n csrw mie, t1");
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}
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/*-----------------------------------------------------------*/
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/* Sets the next timer interrupt
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* Reads previous timer compare register, and adds tickrate */
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static void prvSetNextTimerInterrupt(void)
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{
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#if 0
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__asm volatile("csrr t0,mtimecmp");
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__asm volatile("add t0,t0,%0" :: "r"(configTICK_CLOCK_HZ / configTICK_RATE_HZ));
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__asm volatile("csrw mtimecmp,t0");
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#endif
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volatile uint32_t timer_value;
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timer_value = TIMER;
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// timer_value += configTICK_CLOCK_HZ / configTICK_RATE_HZ;
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timer_value += 10000 - 620; // timer set to 100 Hz and corrected
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TIMER_CMP = timer_value;
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// printf("ISR\n");
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}
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/*-----------------------------------------------------------*/
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/* Sets and enable the timer interrupt */
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void vPortSetupTimer(void)
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{
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#if 0
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__asm volatile("csrr t0,mtime");
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__asm volatile("add t0,t0,%0"::"r"(configTICK_CLOCK_HZ / configTICK_RATE_HZ));
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__asm volatile("csrw mtimecmp,t0");
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/* Enable timer interupt */
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__asm volatile("csrs mie,%0"::"r"(0x80));
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#endif
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volatile uint32_t timer_value;
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timer_value = TIMER;
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// timer_value += configTICK_CLOCK_HZ / configTICK_RATE_HZ;
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timer_value += 10000 - 620; // timer set to 100 Hz and corrected
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TIMER_CMP = timer_value;
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}
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/*-----------------------------------------------------------*/
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void prvTaskExitError( void )
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{
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/* A function that implements a task must not exit or attempt to return to
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its caller as there is nothing to return to. If a task wants to exit it
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should instead call vTaskDelete( NULL ).
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Artificially force an assert() to be triggered if configASSERT() is
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defined, then stop here so application writers can catch the error. */
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configASSERT( uxCriticalNesting == ~0UL );
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portDISABLE_INTERRUPTS();
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* Clear current interrupt mask and set given mask */
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void vPortClearInterruptMask(int mask)
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{
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__asm volatile("csrw mie, %0"::"r"(mask));
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}
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/*-----------------------------------------------------------*/
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/* Set interrupt mask and return current interrupt enable register */
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int vPortSetInterruptMask(void)
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{
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int ret;
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__asm volatile("csrr %0,mie":"=r"(ret));
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__asm volatile("csrc mie,%0"::"i"(7));
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return ret;
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}
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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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/* Simulate the stack frame as it would be created by a context switch
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interrupt. */
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register int *tp asm("x3");
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pxTopOfStack--;
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*pxTopOfStack = (portSTACK_TYPE)pxCode; /* Start address */
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pxTopOfStack -= 22;
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*pxTopOfStack = (portSTACK_TYPE)pvParameters; /* Register a0 */
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pxTopOfStack -= 6;
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*pxTopOfStack = (portSTACK_TYPE)tp; /* Register thread pointer */
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pxTopOfStack -= 3;
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*pxTopOfStack = (portSTACK_TYPE)prvTaskExitError; /* Register ra */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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void vPortSysTickHandler( void )
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{
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prvSetNextTimerInterrupt();
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/* Increment the RTOS tick. */
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if( xTaskIncrementTick() != pdFALSE )
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{
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vTaskSwitchContext();
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}
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}
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/*-----------------------------------------------------------*/
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