Moved proj up
This commit is contained in:
Timo Niemann
@@ -0,0 +1,379 @@
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/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* 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.
|
||||
*
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||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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||||
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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#include <stdlib.h>
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#include <avr/interrupt.h>
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#include "porthardware.h"
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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 AVR port.
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*----------------------------------------------------------*/
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/* Start tasks with interrupts enables. */
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#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 )
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/*-----------------------------------------------------------*/
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/* We require the address of the pxCurrentTCB variable, but don't want to know
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* any details of its type. */
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typedef void RTOS_TCB_t;
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extern volatile RTOS_TCB_t * volatile pxCurrentTCB;
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/*-----------------------------------------------------------*/
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/*
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* Perform hardware setup to enable ticks from timer.
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*/
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static void prvSetupTimerInterrupt( void );
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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,
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TaskFunction_t pxCode,
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void * pvParameters )
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{
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uint16_t usAddress;
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/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
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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. Uncomment if needed. */
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/* *pxTopOfStack = 0x11; */
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/* pxTopOfStack--; */
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/* *pxTopOfStack = 0x22; */
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/* pxTopOfStack--; */
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/* *pxTopOfStack = 0x33; */
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/* pxTopOfStack--; */
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/* The start of the task code will be popped off the stack last, so place
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* it on first. */
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usAddress = ( uint16_t ) pxCode;
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*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
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pxTopOfStack--;
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usAddress >>= 8;
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*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
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pxTopOfStack--;
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/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
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* portSAVE_CONTEXT places the flags on the stack immediately after r0
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* to ensure the interrupts get disabled as soon as possible, and so ensuring
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* the stack use is minimal should a context switch interrupt occur. */
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*pxTopOfStack = ( StackType_t ) 0x00; /* R0 */
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pxTopOfStack--;
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*pxTopOfStack = portFLAGS_INT_ENABLED;
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pxTopOfStack--;
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#if defined(__AVR_HAVE_RAMPZ__)
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*pxTopOfStack = (StackType_t)0x00; /* RAMPZ */
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pxTopOfStack--;
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#endif
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/* Now the remaining registers. The compiler expects R1 to be 0. */
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*pxTopOfStack = ( StackType_t ) 0x00; /* R1 */
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/* Leave R2 - R23 untouched */
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pxTopOfStack -= 23;
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/* Place the parameter on the stack in the expected location. */
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usAddress = ( uint16_t ) pvParameters;
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*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
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pxTopOfStack--;
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usAddress >>= 8;
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*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
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/* Leave register R26 - R31 untouched */
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pxTopOfStack -= 7;
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/*lint +e950 +e611 +e923 */
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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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/* 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. */
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portRESTORE_CONTEXT();
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/* Simulate a function call end as generated by the compiler. We will now
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* jump to the start of the task the context of which we have just restored. */
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asm volatile ( "ret" );
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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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/* vPortEndScheduler is not implemented in this port. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. The first thing we do is save the registers so we
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* can use a naked attribute.
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*/
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void vPortYield( void ) __attribute__( ( naked ) );
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void vPortYield( void )
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{
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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asm volatile ( "ret" );
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}
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/*-----------------------------------------------------------*/
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/*
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* Context switch function used by the tick. This must be identical to
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* vPortYield() from the call to vTaskSwitchContext() onwards. The only
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* difference from vPortYield() is the tick count is incremented as the
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* call comes from the tick ISR.
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*/
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void vPortYieldFromTick( void ) __attribute__( ( naked ) );
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void vPortYieldFromTick( void )
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{
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portSAVE_CONTEXT();
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if( xTaskIncrementTick() != pdFALSE )
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{
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vTaskSwitchContext();
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}
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portRESTORE_CONTEXT();
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asm volatile ( "reti" );
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup timer 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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/* Configure low-power timer used in tickless mode */
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#if (configUSE_TICKLESS_IDLE == 1)
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RTC_INIT();
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#endif
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TICK_init();
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}
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/*-----------------------------------------------------------*/
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#if (configUSE_PREEMPTION == 1)
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/*
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* Tick ISR for preemptive scheduler. We can use a naked attribute as
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* the context is saved at the start of vPortYieldFromTick(). The tick
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* count is incremented after the context is saved.
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*/
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ISR( TICK_INT_vect, ISR_NAKED )
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{
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/* Clear tick interrupt flag. */
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CLR_INT( INT_FLAGS, INT_MASK );
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vPortYieldFromTick();
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asm volatile ( "reti" );
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}
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#else /* if configUSE_PREEMPTION == 1 */
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/*
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* Tick ISR for the cooperative scheduler. All this does is increment the
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* tick count. We don't need to switch context, this can only be done by
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* manual calls to taskYIELD();
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*/
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ISR( TICK_INT_vect )
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{
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/* Clear tick interrupt flag. */
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INT_FLAGS = INT_MASK;
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xTaskIncrementTick();
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}
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#endif /* if configUSE_PREEMPTION == 1 */
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#if (configUSE_TICKLESS_IDLE == 1)
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volatile uint32_t RTC_OVF_Count = 0;
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ISR(RTC_CNT_vect)
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{
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if (RTC.INTFLAGS & RTC_OVF_bm )
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{
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RTC_OVF_Count += 0x00010000;
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RTC.INTFLAGS = (RTC_OVF_bm);
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}
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if (RTC.INTFLAGS & RTC_CMP_bm )
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{
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RTC.INTFLAGS = (RTC_CMP_bm);
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//Disable compare interrupt
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RTC.INTCTRL &= (0xFF ^ RTC_CMP_bm);
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}
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}
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static uint32_t ulGetExternalTime(void)
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{
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uint32_t time_rtc;
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while (RTC.STATUS & RTC_CNTBUSY_bm)
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{
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;
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}
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time_rtc = RTC.CNT;
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time_rtc += RTC_OVF_Count;
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return time_rtc;
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}
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static void vSetWakeTimeInterrupt(uint16_t xExpectedIdleTime)
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{
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uint32_t rtc_cnt_time;
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/* compute the required */
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rtc_cnt_time = RTC_TICKS_TO_COUNTS(xExpectedIdleTime);
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rtc_cnt_time += ulGetExternalTime();
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while (RTC.STATUS & RTC_CMPBUSY_bm)
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{
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;
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}
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RTC.CMP = (rtc_cnt_time & 0xFFFF);
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//Enable compare interrupt
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RTC.INTCTRL |= RTC_CMP_bm;
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}
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/* Define the function that is called by portSUPPRESS_TICKS_AND_SLEEP(). */
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__attribute__((weak)) void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime)
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{
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eSleepModeStatus eSleepStatus;
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uint32_t ulLowPowerTimeBeforeSleep, ulLowPowerTimeAfterSleep;
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/* Read the current time from a time source that will remain operational
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while the microcontroller is in a low power state. */
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ulLowPowerTimeBeforeSleep = ulGetExternalTime();
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/* Stop the timer that is generating the tick interrupt. */
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TICK_TMR_STOP();
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/* Enter a critical section that will not effect interrupts bringing the MCU
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out of sleep mode. */
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portDISABLE_INTERRUPTS();
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/* Ensure it is still ok to enter the sleep mode. */
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eSleepStatus = eTaskConfirmSleepModeStatus();
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if (eSleepStatus == eAbortSleep)
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{
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/* A task has been moved out of the Blocked state since this macro was
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* executed, or a context switch is being held pending. Do not enter a
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* sleep state. Restart the tick and exit the critical section. */
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TICK_TMR_START();
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portENABLE_INTERRUPTS();
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}
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else
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{
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if (eSleepStatus == eNoTasksWaitingTimeout)
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{
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/* A user definable macro that allows application code to be inserted
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* here. Such application code can be used to minimize power consumption
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* further by turning off IO, peripheral clocks, the Flash, etc. */
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configPRE_PWR_DOWN_PROCESSING();
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/* There are no running state tasks and no tasks that are blocked with a
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* time out. Assuming the application does not care if the tick time slips
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* with respect to calendar time then enter a deep sleep that can only be
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* woken by (in this demo case) the user button being pushed on the
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* Curiosity Nano board. If the application does require the tick time
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* to keep better track of the calender time then the PIT peripheral can be
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* used to make rough adjustments. */
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portSET_MODE_AND_SLEEP(SLEEP_MODE_PWR_DOWN);
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/* A user definable macro that allows application code to be inserted
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* here. Such application code can be used to reverse any actions taken
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* by the configPRE_STOP_PROCESSING() */
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configPOST_PWR_DOWN_PROCESSING();
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}
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else
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{
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/* Configure an interrupt to bring the microcontroller out of its low
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* power state at the time the kernel next needs to execute. The
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* interrupt must be generated from a source that remains operational
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* when the microcontroller is in a low power state. */
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vSetWakeTimeInterrupt(xExpectedIdleTime);
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/* Allow the application to define some pre-sleep processing. This is
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* the standard configPRE_SLEEP_PROCESSING() macro as described on the
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* FreeRTOS.org website. */
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configPRE_SLEEP_PROCESSING(xExpectedIdleTime);
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/* Enter the low power state. */
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portSET_MODE_AND_SLEEP(SLEEP_MODE_STANDBY);
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/* Determine how long the microcontroller was actually in a low power
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* state for, which will be less than xExpectedIdleTime if the
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* microcontroller was brought out of low power mode by an interrupt
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* other than that configured by the vSetWakeTimeInterrupt() call.
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* Note that the scheduler is suspended before
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* portSUPPRESS_TICKS_AND_SLEEP() is called, and resumed when
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* portSUPPRESS_TICKS_AND_SLEEP() returns. Therefore no other tasks will
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* execute until this function completes. */
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ulLowPowerTimeAfterSleep = ulGetExternalTime();
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/* Allow the application to define some post sleep processing. This is
|
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* the standard configPOST_SLEEP_PROCESSING() macro, as described on the
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* FreeRTOS.org website.
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* It can be used to reverse the actions of configPRE_SLEEP_PROCESSING(),
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* and in so doing, return the microcontroller back to its fully operational state */
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configPOST_SLEEP_PROCESSING(xExpectedIdleTime);
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/* Correct the kernels tick count to account for the time the
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* microcontroller spent in its low power state. */
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vTaskStepTick(RTC_COUNTS_TO_TICKS(ulLowPowerTimeAfterSleep - ulLowPowerTimeBeforeSleep));
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// vTaskStepTick(xExpectedIdleTime);
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}
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/* Exit the critical section - it might be possible to do this immediately
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* after the SET_MODE_AND_SLEEP calls. */
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portENABLE_INTERRUPTS();
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/* Restart the timer that is generating the tick interrupt. */
|
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TICK_TMR_START();
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}
|
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}
|
||||
|
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#endif
|
||||
+221
@@ -0,0 +1,221 @@
|
||||
/*
|
||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PORTHARDWARE_H
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#define PORTHARDWARE_H
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#include "FreeRTOSConfig.h"
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|
||||
/*-----------------------------------------------------------*/
|
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|
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#define CLR_INT( FLAG_REG, FLAG_MASK ) \
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asm volatile ( \
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"push r16\n\t" \
|
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"ldi r16, %1\n\t" \
|
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"sts %0, r16\n\t" \
|
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"pop r16\n\t" \
|
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: \
|
||||
: "i" ( _SFR_MEM_ADDR( FLAG_REG ) ), "i" ( ( uint8_t ) ( FLAG_MASK ) ) \
|
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);
|
||||
|
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#if ( configUSE_TIMER_INSTANCE == 0 )
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#define TICK_INT_vect TCB0_INT_vect
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#define INT_FLAGS TCB0_INTFLAGS
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#define INT_MASK TCB_CAPT_bm
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#define TICK_init() \
|
||||
{ \
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TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
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TCB0.INTCTRL = TCB_CAPT_bm; \
|
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TCB0.CTRLA = TCB_ENABLE_bm; \
|
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}
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|
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#define TICK_TMR_STOP() TCB0.CTRLA = 0x00;
|
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#define TICK_TMR_START() \
|
||||
{ \
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TCB0.INTFLAGS = TCB_CAPT_bm; \
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TCB0.CTRLA = TCB_ENABLE_bm; \
|
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}
|
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#define TICK_TMR_READ() TCB0.CNT
|
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#define TICK_INT_READY() (TCB0.INTCTRL & TCB_CAPT_bm)
|
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|
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#elif ( configUSE_TIMER_INSTANCE == 1 )
|
||||
|
||||
#define TICK_INT_vect TCB1_INT_vect
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||||
#define INT_FLAGS TCB1_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
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||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB1.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB1.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB1.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB1.CNT
|
||||
#define TICK_INT_READY() (TCB1.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
||||
|
||||
#define TICK_INT_vect TCB2_INT_vect
|
||||
#define INT_FLAGS TCB2_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB2.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB2.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB2.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB2.CNT
|
||||
#define TICK_INT_READY() (TCB2.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
||||
|
||||
#define TICK_INT_vect TCB3_INT_vect
|
||||
#define INT_FLAGS TCB3_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB3.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB3.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB3.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB3.CNT
|
||||
#define TICK_INT_READY() (TCB3.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
||||
|
||||
#define TICK_INT_vect TCB4_INT_vect
|
||||
#define INT_FLAGS TCB4_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB4.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB4.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB4.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_STOP() TCB4.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB4.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB4.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB4.CNT
|
||||
#define TICK_INT_READY() (TCB4.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 5 )
|
||||
|
||||
#if ( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
/* RTC is not supported as tick timer when tickless mode is used */
|
||||
#error Invalid timer setting.
|
||||
|
||||
#else
|
||||
|
||||
#define TICK_INT_vect RTC_CNT_vect
|
||||
#define INT_FLAGS RTC_INTFLAGS
|
||||
#define INT_MASK RTC_OVF_bm
|
||||
|
||||
/* Hertz to period for RTC setup */
|
||||
#define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) )
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
while( RTC.STATUS > 0 ) {; } \
|
||||
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
||||
RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \
|
||||
RTC.INTCTRL |= 1 << RTC_OVF_bp; \
|
||||
}
|
||||
#undef TICK_TMR_STOP
|
||||
#undef TICK_TMR_START
|
||||
#undef TICK_TMR_READ
|
||||
#undef TICK_INT_READY
|
||||
#endif
|
||||
|
||||
#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */
|
||||
#undef TICK_INT_vect
|
||||
#undef INT_FLAGS
|
||||
#undef INT_MASK
|
||||
#undef TICK_init
|
||||
#undef TICK_TMR_STOP
|
||||
#undef TICK_TMR_START
|
||||
#undef TICK_TMR_READ
|
||||
#undef TICK_INT_READY
|
||||
#error Invalid timer setting.
|
||||
#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
|
||||
#if ( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
#define LOW_POWER_CLOCK (32768UL)
|
||||
|
||||
#define RTC_TICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define RTC_TICKS_TO_COUNTS(tick_cnt) (uint32_t)(((float)(tick_cnt * LOW_POWER_CLOCK)/configTICK_RATE_HZ) - 0.5)
|
||||
#define RTC_COUNTS_TO_TICKS(counts) (uint32_t)((float)((counts * 1.0) * configTICK_RATE_HZ)/LOW_POWER_CLOCK )
|
||||
|
||||
|
||||
#define RTC_INIT() \
|
||||
{ \
|
||||
while( RTC.STATUS > 0 ) {; } \
|
||||
RTC.PER = 0xFFFF; \
|
||||
RTC.CMP = 0x3FFF; \
|
||||
RTC.CNT = 0; \
|
||||
RTC.INTFLAGS = RTC_OVF_bm | RTC_CMP_bm; \
|
||||
RTC.CTRLA = RTC_RUNSTDBY_bm | RTC_PRESCALER_DIV1_gc | RTC_RTCEN_bm ; \
|
||||
RTC.INTCTRL = RTC_OVF_bm | RTC_CMP_bm; \
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#endif /* PORTHARDWARE_H */
|
||||
+265
@@ -0,0 +1,265 @@
|
||||
/*
|
||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#include <avr/sleep.h>
|
||||
/*-----------------------------------------------------------
|
||||
* 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 int
|
||||
#define portSTACK_TYPE uint8_t
|
||||
#define portBASE_TYPE char
|
||||
|
||||
#define portPOINTER_SIZE_TYPE uint16_t
|
||||
|
||||
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
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
#define portENTER_CRITICAL() \
|
||||
asm volatile ( "in __tmp_reg__, __SREG__" ); \
|
||||
asm volatile ( "cli" ); \
|
||||
asm volatile ( "push __tmp_reg__" )
|
||||
|
||||
#define portEXIT_CRITICAL() \
|
||||
asm volatile ( "pop __tmp_reg__" ); \
|
||||
asm volatile ( "out __SREG__, __tmp_reg__" )
|
||||
|
||||
#define portDISABLE_INTERRUPTS() asm volatile ( "cli" ::);
|
||||
#define portENABLE_INTERRUPTS() asm volatile ( "sei" ::);
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portBYTE_ALIGNMENT 1
|
||||
#define portNOP() asm volatile ( "nop" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Kernel utilities. */
|
||||
extern void vPortYield( void ) __attribute__( ( naked ) );
|
||||
#define portYIELD() vPortYield()
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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 )
|
||||
|
||||
/* Macros for tickless idle/low power functionality. */
|
||||
#ifndef portSUPPRESS_TICKS_AND_SLEEP
|
||||
|
||||
extern void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime);
|
||||
#define portSUPPRESS_TICKS_AND_SLEEP(xExpectedIdleTime) vPortSuppressTicksAndSleep(xExpectedIdleTime)
|
||||
#endif
|
||||
|
||||
#ifndef configPRE_PWR_DOWN_PROCESSING
|
||||
#define configPRE_PWR_DOWN_PROCESSING()
|
||||
#endif
|
||||
|
||||
#ifndef configPOST_PWR_DOWN_PROCESSING
|
||||
#define configPOST_PWR_DOWN_PROCESSING()
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Helper macros for portSAVE_CONTEXT/ portRESTORE_CONTEXT - common support for Mega-0 and AVR-Dx families */
|
||||
|
||||
#if defined(__AVR_HAVE_RAMPZ__)
|
||||
|
||||
#define portSAVE_RAMPZ() \
|
||||
asm volatile("in r0, __RAMPZ__ \n\t" \
|
||||
"push r0 \n\t");
|
||||
|
||||
#define portRESTORE_RAMPZ() \
|
||||
asm volatile("pop r0 \n\t" \
|
||||
"out __RAMPZ__, r0 \n\t");
|
||||
|
||||
#else
|
||||
|
||||
#define portSAVE_RAMPZ()
|
||||
#define portRESTORE_RAMPZ()
|
||||
|
||||
#endif
|
||||
|
||||
/* Macro to save all the general purpose registers, the save the stack pointer
|
||||
* into the TCB.
|
||||
|
||||
* The first thing we do is save the flags then disable interrupts. This is to
|
||||
* guard our stack against having a context switch interrupt after we have already
|
||||
* pushed the registers onto the stack - causing the 32 registers to be on the
|
||||
* stack twice.
|
||||
|
||||
* r1 is set to zero as the compiler expects it to be thus, however some
|
||||
* of the math routines make use of R1.
|
||||
|
||||
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
|
||||
* so we need not worry about reading/writing to the stack pointer. */
|
||||
|
||||
#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
asm volatile("push r0 \n\t" \
|
||||
"in r0, __SREG__ \n\t" \
|
||||
"cli \n\t" \
|
||||
"push r0 \n\t"); \
|
||||
portSAVE_RAMPZ(); \
|
||||
asm volatile("push r1 \n\t" \
|
||||
"clr r1 \n\t" \
|
||||
"push r2 \n\t" \
|
||||
"push r3 \n\t" \
|
||||
"push r4 \n\t" \
|
||||
"push r5 \n\t" \
|
||||
"push r6 \n\t" \
|
||||
"push r7 \n\t" \
|
||||
"push r8 \n\t" \
|
||||
"push r9 \n\t" \
|
||||
"push r10 \n\t" \
|
||||
"push r11 \n\t" \
|
||||
"push r12 \n\t" \
|
||||
"push r13 \n\t" \
|
||||
"push r14 \n\t" \
|
||||
"push r15 \n\t" \
|
||||
"push r16 \n\t" \
|
||||
"push r17 \n\t" \
|
||||
"push r18 \n\t" \
|
||||
"push r19 \n\t" \
|
||||
"push r20 \n\t" \
|
||||
"push r21 \n\t" \
|
||||
"push r22 \n\t" \
|
||||
"push r23 \n\t" \
|
||||
"push r24 \n\t" \
|
||||
"push r25 \n\t" \
|
||||
"push r26 \n\t" \
|
||||
"push r27 \n\t" \
|
||||
"push r28 \n\t" \
|
||||
"push r29 \n\t" \
|
||||
"push r30 \n\t" \
|
||||
"push r31 \n\t" \
|
||||
"lds r26, pxCurrentTCB \n\t" \
|
||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||
"in r0, __SP_L__ \n\t" \
|
||||
"st x+, r0 \n\t" \
|
||||
"in r0, __SP_H__ \n\t" \
|
||||
"st x+, r0 \n\t"); \
|
||||
}
|
||||
|
||||
/* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
||||
* the context save so we can write to the stack pointer. */
|
||||
#define portRESTORE_CONTEXT() \
|
||||
{ \
|
||||
asm volatile("lds r26, pxCurrentTCB \n\t" \
|
||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||
"ld r28, x+ \n\t" \
|
||||
"out __SP_L__, r28 \n\t" \
|
||||
"ld r29, x+ \n\t" \
|
||||
"out __SP_H__, r29 \n\t" \
|
||||
"pop r31 \n\t" \
|
||||
"pop r30 \n\t" \
|
||||
"pop r29 \n\t" \
|
||||
"pop r28 \n\t" \
|
||||
"pop r27 \n\t" \
|
||||
"pop r26 \n\t" \
|
||||
"pop r25 \n\t" \
|
||||
"pop r24 \n\t" \
|
||||
"pop r23 \n\t" \
|
||||
"pop r22 \n\t" \
|
||||
"pop r21 \n\t" \
|
||||
"pop r20 \n\t" \
|
||||
"pop r19 \n\t" \
|
||||
"pop r18 \n\t" \
|
||||
"pop r17 \n\t" \
|
||||
"pop r16 \n\t" \
|
||||
"pop r15 \n\t" \
|
||||
"pop r14 \n\t" \
|
||||
"pop r13 \n\t" \
|
||||
"pop r12 \n\t" \
|
||||
"pop r11 \n\t" \
|
||||
"pop r10 \n\t" \
|
||||
"pop r9 \n\t" \
|
||||
"pop r8 \n\t" \
|
||||
"pop r7 \n\t" \
|
||||
"pop r6 \n\t" \
|
||||
"pop r5 \n\t" \
|
||||
"pop r4 \n\t" \
|
||||
"pop r3 \n\t" \
|
||||
"pop r2 \n\t" \
|
||||
"pop r1 \n\t"); \
|
||||
portRESTORE_RAMPZ(); \
|
||||
asm volatile("pop r0 \n\t" \
|
||||
"out __SREG__, r0 \n\t" \
|
||||
"pop r0 \n\t"); \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portSET_MODE_AND_SLEEP(mode) \
|
||||
{ \
|
||||
set_sleep_mode(mode); \
|
||||
sleep_enable(); \
|
||||
portENABLE_INTERRUPTS(); \
|
||||
sleep_cpu(); \
|
||||
portDISABLE_INTERRUPTS(); \
|
||||
sleep_disable(); \
|
||||
}
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
@@ -0,0 +1,393 @@
|
||||
/*
|
||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <avr/interrupt.h>
|
||||
#include "porthardware.h"
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Implementation of functions defined in portable.h for the AVR port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
/* Start tasks with interrupts enables. */
|
||||
#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x80 )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* We require the address of the pxCurrentTCB variable, but don't want to know
|
||||
* any details of its type. */
|
||||
typedef void RTOS_TCB_t;
|
||||
extern volatile RTOS_TCB_t * volatile pxCurrentTCB;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Perform hardware setup to enable ticks from timer.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
|
||||
TaskFunction_t pxCode,
|
||||
void * pvParameters )
|
||||
{
|
||||
uint16_t usAddress;
|
||||
|
||||
/*lint -e950 -e611 -e923 Lint doesn't like this much - but nothing I can do about it. */
|
||||
|
||||
/* Place a few bytes of known values on the bottom of the stack.
|
||||
* This is just useful for debugging. Uncomment if needed. */
|
||||
/* *pxTopOfStack = 0x11; */
|
||||
/* pxTopOfStack--; */
|
||||
/* *pxTopOfStack = 0x22; */
|
||||
/* pxTopOfStack--; */
|
||||
/* *pxTopOfStack = 0x33; */
|
||||
/* pxTopOfStack--; */
|
||||
|
||||
/* The start of the task code will be popped off the stack last, so place
|
||||
* it on first. */
|
||||
usAddress = ( uint16_t ) pxCode;
|
||||
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
||||
pxTopOfStack--;
|
||||
|
||||
usAddress >>= 8;
|
||||
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
||||
pxTopOfStack--;
|
||||
|
||||
/* Next simulate the stack as if after a call to portSAVE_CONTEXT().
|
||||
* portSAVE_CONTEXT places the flags on the stack immediately after r0
|
||||
* to ensure the interrupts get disabled as soon as possible, and so ensuring
|
||||
* the stack use is minimal should a context switch interrupt occur. */
|
||||
*pxTopOfStack = ( StackType_t ) 0x00; /* R0 */
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = portFLAGS_INT_ENABLED;
|
||||
pxTopOfStack--;
|
||||
#if defined(__AVR_HAVE_RAMPZ__)
|
||||
*pxTopOfStack = (StackType_t)0x00; /* RAMPZ */
|
||||
pxTopOfStack--;
|
||||
#endif
|
||||
|
||||
/* Now the remaining registers. The compiler expects R1 to be 0. */
|
||||
*pxTopOfStack = ( StackType_t ) 0x00; /* R1 */
|
||||
|
||||
/* Leave R2 - R23 untouched */
|
||||
pxTopOfStack -= 23;
|
||||
|
||||
/* Place the parameter on the stack in the expected location. */
|
||||
usAddress = ( uint16_t ) pvParameters;
|
||||
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
||||
pxTopOfStack--;
|
||||
|
||||
usAddress >>= 8;
|
||||
*pxTopOfStack = ( StackType_t ) ( usAddress & ( uint16_t ) 0x00ff );
|
||||
|
||||
/* Leave register R26 - R31 untouched */
|
||||
pxTopOfStack -= 7;
|
||||
|
||||
/*lint +e950 +e611 +e923 */
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
BaseType_t xPortStartScheduler( void )
|
||||
{
|
||||
/* Setup the hardware to generate the tick. */
|
||||
prvSetupTimerInterrupt();
|
||||
|
||||
/* Restore the context of the first task that is going to run. */
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
/* Simulate a function call end as generated by the compiler. We will now
|
||||
* jump to the start of the task the context of which we have just restored. */
|
||||
asm volatile ( "ret" );
|
||||
|
||||
/* Should not get here. */
|
||||
return pdTRUE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* vPortEndScheduler is not implemented in this port. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Manual context switch. The first thing we do is save the registers so we
|
||||
* can use a naked attribute.
|
||||
*/
|
||||
void vPortYield( void ) __attribute__( ( naked ) );
|
||||
void vPortYield( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
vTaskSwitchContext();
|
||||
portRESTORE_CONTEXT();
|
||||
asm volatile ( "ret" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Manual context switch callable from ISRs. The first thing
|
||||
* we do is save the registers so we can use a naked attribute.
|
||||
*/
|
||||
void vPortYieldFromISR( void ) __attribute__( ( naked ) );
|
||||
void vPortYieldFromISR( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
vTaskSwitchContext();
|
||||
portRESTORE_CONTEXT();
|
||||
asm volatile ( "reti" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Context switch function used by the tick. This must be identical to
|
||||
* vPortYield() from the call to vTaskSwitchContext() onwards. The only
|
||||
* difference from vPortYield() is the tick count is incremented as the
|
||||
* call comes from the tick ISR.
|
||||
*/
|
||||
void vPortYieldFromTick( void ) __attribute__( ( naked ) );
|
||||
void vPortYieldFromTick( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
|
||||
if( xTaskIncrementTick() != pdFALSE )
|
||||
{
|
||||
vTaskSwitchContext();
|
||||
}
|
||||
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
asm volatile ( "reti" );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Setup timer to generate a tick interrupt.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void )
|
||||
{
|
||||
/* Configure low-power timer used in tickless mode */
|
||||
#if (configUSE_TICKLESS_IDLE == 1)
|
||||
RTC_INIT();
|
||||
#endif
|
||||
TICK_init();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#if (configUSE_PREEMPTION == 1)
|
||||
|
||||
/*
|
||||
* Tick ISR for preemptive scheduler. We can use a naked attribute as
|
||||
* the context is saved at the start of vPortYieldFromTick(). The tick
|
||||
* count is incremented after the context is saved.
|
||||
*/
|
||||
ISR( TICK_INT_vect, ISR_NAKED )
|
||||
{
|
||||
/* Clear tick interrupt flag. */
|
||||
CLR_INT( INT_FLAGS, INT_MASK );
|
||||
|
||||
vPortYieldFromTick();
|
||||
|
||||
asm volatile ( "reti" );
|
||||
}
|
||||
#else /* if configUSE_PREEMPTION == 1 */
|
||||
|
||||
/*
|
||||
* Tick ISR for the cooperative scheduler. All this does is increment the
|
||||
* tick count. We don't need to switch context, this can only be done by
|
||||
* manual calls to taskYIELD();
|
||||
*/
|
||||
ISR( TICK_INT_vect )
|
||||
{
|
||||
/* Clear tick interrupt flag. */
|
||||
INT_FLAGS = INT_MASK;
|
||||
xTaskIncrementTick();
|
||||
}
|
||||
#endif /* if configUSE_PREEMPTION == 1 */
|
||||
|
||||
#if (configUSE_TICKLESS_IDLE == 1)
|
||||
|
||||
volatile uint32_t RTC_OVF_Count = 0;
|
||||
|
||||
ISR(RTC_CNT_vect)
|
||||
{
|
||||
if (RTC.INTFLAGS & RTC_OVF_bm )
|
||||
{
|
||||
RTC_OVF_Count += 0x00010000;
|
||||
RTC.INTFLAGS = (RTC_OVF_bm);
|
||||
}
|
||||
|
||||
if (RTC.INTFLAGS & RTC_CMP_bm )
|
||||
{
|
||||
RTC.INTFLAGS = (RTC_CMP_bm);
|
||||
//Disable compare interrupt
|
||||
RTC.INTCTRL &= (0xFF ^ RTC_CMP_bm);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static uint32_t ulGetExternalTime(void)
|
||||
{
|
||||
uint32_t time_rtc;
|
||||
|
||||
while (RTC.STATUS & RTC_CNTBUSY_bm)
|
||||
{
|
||||
;
|
||||
}
|
||||
time_rtc = RTC.CNT;
|
||||
time_rtc += RTC_OVF_Count;
|
||||
return time_rtc;
|
||||
}
|
||||
|
||||
static void vSetWakeTimeInterrupt(uint16_t xExpectedIdleTime)
|
||||
{
|
||||
uint32_t rtc_cnt_time;
|
||||
|
||||
/* compute the required */
|
||||
rtc_cnt_time = RTC_TICKS_TO_COUNTS(xExpectedIdleTime);
|
||||
rtc_cnt_time += ulGetExternalTime();
|
||||
|
||||
while (RTC.STATUS & RTC_CMPBUSY_bm)
|
||||
{
|
||||
;
|
||||
}
|
||||
RTC.CMP = (rtc_cnt_time & 0xFFFF);
|
||||
|
||||
//Enable compare interrupt
|
||||
RTC.INTCTRL |= RTC_CMP_bm;
|
||||
}
|
||||
|
||||
/* Define the function that is called by portSUPPRESS_TICKS_AND_SLEEP(). */
|
||||
__attribute__((weak)) void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime)
|
||||
{
|
||||
eSleepModeStatus eSleepStatus;
|
||||
uint32_t ulLowPowerTimeBeforeSleep, ulLowPowerTimeAfterSleep;
|
||||
|
||||
/* Read the current time from a time source that will remain operational
|
||||
while the microcontroller is in a low power state. */
|
||||
ulLowPowerTimeBeforeSleep = ulGetExternalTime();
|
||||
|
||||
/* Stop the timer that is generating the tick interrupt. */
|
||||
TICK_TMR_STOP();
|
||||
|
||||
/* Enter a critical section that will not effect interrupts bringing the MCU
|
||||
out of sleep mode. */
|
||||
portDISABLE_INTERRUPTS();
|
||||
|
||||
/* Ensure it is still ok to enter the sleep mode. */
|
||||
eSleepStatus = eTaskConfirmSleepModeStatus();
|
||||
|
||||
if (eSleepStatus == eAbortSleep)
|
||||
{
|
||||
/* A task has been moved out of the Blocked state since this macro was
|
||||
* executed, or a context switch is being held pending. Do not enter a
|
||||
* sleep state. Restart the tick and exit the critical section. */
|
||||
TICK_TMR_START();
|
||||
portENABLE_INTERRUPTS();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (eSleepStatus == eNoTasksWaitingTimeout)
|
||||
{
|
||||
/* A user definable macro that allows application code to be inserted
|
||||
* here. Such application code can be used to minimize power consumption
|
||||
* further by turning off IO, peripheral clocks, the Flash, etc. */
|
||||
configPRE_PWR_DOWN_PROCESSING();
|
||||
|
||||
/* There are no running state tasks and no tasks that are blocked with a
|
||||
* time out. Assuming the application does not care if the tick time slips
|
||||
* with respect to calendar time then enter a deep sleep that can only be
|
||||
* woken by (in this demo case) the user button being pushed on the
|
||||
* Curiosity Nano board. If the application does require the tick time
|
||||
* to keep better track of the calender time then the PIT peripheral can be
|
||||
* used to make rough adjustments. */
|
||||
portSET_MODE_AND_SLEEP(SLEEP_MODE_PWR_DOWN);
|
||||
|
||||
/* A user definable macro that allows application code to be inserted
|
||||
* here. Such application code can be used to reverse any actions taken
|
||||
* by the configPRE_STOP_PROCESSING() */
|
||||
configPOST_PWR_DOWN_PROCESSING();
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Configure an interrupt to bring the microcontroller out of its low
|
||||
* power state at the time the kernel next needs to execute. The
|
||||
* interrupt must be generated from a source that remains operational
|
||||
* when the microcontroller is in a low power state. */
|
||||
vSetWakeTimeInterrupt(xExpectedIdleTime);
|
||||
|
||||
/* Allow the application to define some pre-sleep processing. This is
|
||||
* the standard configPRE_SLEEP_PROCESSING() macro as described on the
|
||||
* FreeRTOS.org website. */
|
||||
configPRE_SLEEP_PROCESSING(xExpectedIdleTime);
|
||||
|
||||
/* Enter the low power state. */
|
||||
portSET_MODE_AND_SLEEP(SLEEP_MODE_STANDBY);
|
||||
|
||||
/* Determine how long the microcontroller was actually in a low power
|
||||
* state for, which will be less than xExpectedIdleTime if the
|
||||
* microcontroller was brought out of low power mode by an interrupt
|
||||
* other than that configured by the vSetWakeTimeInterrupt() call.
|
||||
* Note that the scheduler is suspended before
|
||||
* portSUPPRESS_TICKS_AND_SLEEP() is called, and resumed when
|
||||
* portSUPPRESS_TICKS_AND_SLEEP() returns. Therefore no other tasks will
|
||||
* execute until this function completes. */
|
||||
ulLowPowerTimeAfterSleep = ulGetExternalTime();
|
||||
|
||||
/* Allow the application to define some post sleep processing. This is
|
||||
* the standard configPOST_SLEEP_PROCESSING() macro, as described on the
|
||||
* FreeRTOS.org website.
|
||||
* It can be used to reverse the actions of configPRE_SLEEP_PROCESSING(),
|
||||
* and in so doing, return the microcontroller back to its fully operational state */
|
||||
configPOST_SLEEP_PROCESSING(xExpectedIdleTime);
|
||||
|
||||
/* Correct the kernels tick count to account for the time the
|
||||
* microcontroller spent in its low power state. */
|
||||
vTaskStepTick(RTC_COUNTS_TO_TICKS(ulLowPowerTimeAfterSleep - ulLowPowerTimeBeforeSleep));
|
||||
// vTaskStepTick(xExpectedIdleTime);
|
||||
|
||||
}
|
||||
|
||||
/* Exit the critical section - it might be possible to do this immediately
|
||||
* after the SET_MODE_AND_SLEEP calls. */
|
||||
portENABLE_INTERRUPTS();
|
||||
|
||||
/* Restart the timer that is generating the tick interrupt. */
|
||||
TICK_TMR_START();
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
+183
@@ -0,0 +1,183 @@
|
||||
/*
|
||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PORTHARDWARE_H
|
||||
#define PORTHARDWARE_H
|
||||
|
||||
#include "FreeRTOSConfig.h"
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define CLR_INT( FLAG_REG, FLAG_MASK ) \
|
||||
asm volatile ( \
|
||||
"push r16\n\t" \
|
||||
"ldi r16, %1\n\t" \
|
||||
"sts %0, r16\n\t" \
|
||||
"pop r16\n\t" \
|
||||
: \
|
||||
: "i" ( _SFR_MEM_ADDR( FLAG_REG ) ), "i" ( ( uint8_t ) ( FLAG_MASK ) ) \
|
||||
);
|
||||
|
||||
#if ( configUSE_TIMER_INSTANCE == 0 )
|
||||
|
||||
#define TICK_INT_vect TCB0_INT_vect
|
||||
#define INT_FLAGS TCB0_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB0.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB0.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB0.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB0.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB0.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB0.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB0.CNT
|
||||
#define TICK_INT_READY() (TCB0.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 1 )
|
||||
|
||||
#define TICK_INT_vect TCB1_INT_vect
|
||||
#define INT_FLAGS TCB1_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB1.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB1.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB1.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB1.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB1.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB1.CNT
|
||||
#define TICK_INT_READY() (TCB1.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 2 )
|
||||
|
||||
#define TICK_INT_vect TCB2_INT_vect
|
||||
#define INT_FLAGS TCB2_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB2.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB2.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB2.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB2.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB2.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB2.CNT
|
||||
#define TICK_INT_READY() (TCB2.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 3 )
|
||||
|
||||
#define TICK_INT_vect TCB3_INT_vect
|
||||
#define INT_FLAGS TCB3_INTFLAGS
|
||||
#define INT_MASK TCB_CAPT_bm
|
||||
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
TCB3.CCMP = configCPU_CLOCK_HZ / configTICK_RATE_HZ; \
|
||||
TCB3.INTCTRL = TCB_CAPT_bm; \
|
||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
|
||||
#define TICK_TMR_STOP() TCB3.CTRLA = 0x00;
|
||||
#define TICK_TMR_START() \
|
||||
{ \
|
||||
TCB3.INTFLAGS = TCB_CAPT_bm; \
|
||||
TCB3.CTRLA = TCB_ENABLE_bm; \
|
||||
}
|
||||
#define TICK_TMR_READ() TCB3.CNT
|
||||
#define TICK_INT_READY() (TCB3.INTCTRL & TCB_CAPT_bm)
|
||||
|
||||
#elif ( configUSE_TIMER_INSTANCE == 4 )
|
||||
|
||||
#define TICK_INT_vect RTC_CNT_vect
|
||||
#define INT_FLAGS RTC_INTFLAGS
|
||||
#define INT_MASK RTC_OVF_bm
|
||||
|
||||
/* Hertz to period for RTC setup */
|
||||
#define RTC_PERIOD_HZ( x ) ( 32768 * ( ( 1.0 / x ) ) )
|
||||
#define TICK_init() \
|
||||
{ \
|
||||
while( RTC.STATUS > 0 ) {; } \
|
||||
RTC.CTRLA = RTC_PRESCALER_DIV1_gc | 1 << RTC_RTCEN_bp; \
|
||||
RTC.PER = RTC_PERIOD_HZ( configTICK_RATE_HZ ); \
|
||||
RTC.INTCTRL |= 1 << RTC_OVF_bp; \
|
||||
}
|
||||
|
||||
#else /* if ( configUSE_TIMER_INSTANCE == 0 ) */
|
||||
#undef TICK_INT_vect
|
||||
#undef INT_FLAGS
|
||||
#undef INT_MASK
|
||||
#undef TICK_init
|
||||
#error Invalid timer setting.
|
||||
#endif /* if ( configUSE_TIMER_INSTANCE == 0 ) */
|
||||
|
||||
|
||||
#if ( configUSE_TICKLESS_IDLE == 1 )
|
||||
|
||||
#define LOW_POWER_CLOCK (32768UL)
|
||||
|
||||
#define RTC_TICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define RTC_TICKS_TO_COUNTS(tick_cnt) (uint32_t)(((float)(tick_cnt * LOW_POWER_CLOCK)/configTICK_RATE_HZ) - 0.5)
|
||||
#define RTC_COUNTS_TO_TICKS(counts) (uint32_t)((float)((counts * 1.0) * configTICK_RATE_HZ)/LOW_POWER_CLOCK )
|
||||
|
||||
|
||||
#define RTC_INIT() \
|
||||
{ \
|
||||
while( RTC.STATUS > 0 ) {; } \
|
||||
RTC.PER = 0xFFFF; \
|
||||
RTC.CMP = 0x3FFF; \
|
||||
RTC.CNT = 0; \
|
||||
RTC.INTFLAGS = RTC_OVF_bm | RTC_CMP_bm; \
|
||||
RTC.CTRLA = RTC_RUNSTDBY_bm | RTC_PRESCALER_DIV1_gc | RTC_RTCEN_bm ; \
|
||||
RTC.INTCTRL = RTC_OVF_bm | RTC_CMP_bm; \
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#endif /* PORTHARDWARE_H */
|
||||
+267
@@ -0,0 +1,267 @@
|
||||
/*
|
||||
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
||||
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: MIT
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* https://www.FreeRTOS.org
|
||||
* https://github.com/FreeRTOS
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#include <avr/sleep.h>
|
||||
/*-----------------------------------------------------------
|
||||
* 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 int
|
||||
#define portSTACK_TYPE uint8_t
|
||||
#define portBASE_TYPE char
|
||||
|
||||
#define portPOINTER_SIZE_TYPE uint16_t
|
||||
|
||||
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
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section management. */
|
||||
#define portENTER_CRITICAL() \
|
||||
asm volatile ( "in __tmp_reg__, __SREG__" ); \
|
||||
asm volatile ( "cli" ); \
|
||||
asm volatile ( "push __tmp_reg__" )
|
||||
|
||||
#define portEXIT_CRITICAL() \
|
||||
asm volatile ( "pop __tmp_reg__" ); \
|
||||
asm volatile ( "out __SREG__, __tmp_reg__" )
|
||||
|
||||
#define portDISABLE_INTERRUPTS() asm volatile ( "cli" ::);
|
||||
#define portENABLE_INTERRUPTS() asm volatile ( "sei" ::);
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Architecture specifics. */
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
|
||||
#define portBYTE_ALIGNMENT 1
|
||||
#define portNOP() asm volatile ( "nop" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Kernel utilities. */
|
||||
extern void vPortYield( void ) __attribute__( ( naked ) );
|
||||
#define portYIELD() vPortYield()
|
||||
|
||||
extern void vPortYieldFromISR( void ) __attribute__( ( naked ) );
|
||||
#define portYIELD_FROM_ISR() vPortYieldFromISR()
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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 )
|
||||
|
||||
/* Macros for tickless idle/low power functionality. */
|
||||
#ifndef portSUPPRESS_TICKS_AND_SLEEP
|
||||
|
||||
extern void vPortSuppressTicksAndSleep(TickType_t xExpectedIdleTime);
|
||||
#define portSUPPRESS_TICKS_AND_SLEEP(xExpectedIdleTime) vPortSuppressTicksAndSleep(xExpectedIdleTime)
|
||||
#endif
|
||||
|
||||
#ifndef configPRE_PWR_DOWN_PROCESSING
|
||||
#define configPRE_PWR_DOWN_PROCESSING()
|
||||
#endif
|
||||
|
||||
#ifndef configPOST_PWR_DOWN_PROCESSING
|
||||
#define configPOST_PWR_DOWN_PROCESSING()
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Helper macros for portSAVE_CONTEXT/ portRESTORE_CONTEXT - common support for Mega-0 and AVR-Dx families */
|
||||
|
||||
#if defined(__AVR_HAVE_RAMPZ__)
|
||||
|
||||
#define portSAVE_RAMPZ() \
|
||||
asm volatile("in r0, __RAMPZ__ \n\t" \
|
||||
"push r0 \n\t");
|
||||
|
||||
#define portRESTORE_RAMPZ() \
|
||||
asm volatile("pop r0 \n\t" \
|
||||
"out __RAMPZ__, r0 \n\t");
|
||||
|
||||
#else
|
||||
|
||||
#define portSAVE_RAMPZ()
|
||||
#define portRESTORE_RAMPZ()
|
||||
|
||||
#endif
|
||||
|
||||
/* Macro to save all the general purpose registers, the save the stack pointer
|
||||
* into the TCB.
|
||||
|
||||
* The first thing we do is save the flags then disable interrupts. This is to
|
||||
* guard our stack against having a context switch interrupt after we have already
|
||||
* pushed the registers onto the stack - causing the 32 registers to be on the
|
||||
* stack twice.
|
||||
|
||||
* r1 is set to zero as the compiler expects it to be thus, however some
|
||||
* of the math routines make use of R1.
|
||||
|
||||
* The interrupts will have been disabled during the call to portSAVE_CONTEXT()
|
||||
* so we need not worry about reading/writing to the stack pointer. */
|
||||
|
||||
#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
asm volatile("push r0 \n\t" \
|
||||
"in r0, __SREG__ \n\t" \
|
||||
"cli \n\t" \
|
||||
"push r0 \n\t"); \
|
||||
portSAVE_RAMPZ(); \
|
||||
asm volatile("push r1 \n\t" \
|
||||
"clr r1 \n\t" \
|
||||
"push r2 \n\t" \
|
||||
"push r3 \n\t" \
|
||||
"push r4 \n\t" \
|
||||
"push r5 \n\t" \
|
||||
"push r6 \n\t" \
|
||||
"push r7 \n\t" \
|
||||
"push r8 \n\t" \
|
||||
"push r9 \n\t" \
|
||||
"push r10 \n\t" \
|
||||
"push r11 \n\t" \
|
||||
"push r12 \n\t" \
|
||||
"push r13 \n\t" \
|
||||
"push r14 \n\t" \
|
||||
"push r15 \n\t" \
|
||||
"push r16 \n\t" \
|
||||
"push r17 \n\t" \
|
||||
"push r18 \n\t" \
|
||||
"push r19 \n\t" \
|
||||
"push r20 \n\t" \
|
||||
"push r21 \n\t" \
|
||||
"push r22 \n\t" \
|
||||
"push r23 \n\t" \
|
||||
"push r24 \n\t" \
|
||||
"push r25 \n\t" \
|
||||
"push r26 \n\t" \
|
||||
"push r27 \n\t" \
|
||||
"push r28 \n\t" \
|
||||
"push r29 \n\t" \
|
||||
"push r30 \n\t" \
|
||||
"push r31 \n\t" \
|
||||
"lds r26, pxCurrentTCB \n\t" \
|
||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||
"in r0, __SP_L__ \n\t" \
|
||||
"st x+, r0 \n\t" \
|
||||
"in r0, __SP_H__ \n\t" \
|
||||
"st x+, r0 \n\t"); \
|
||||
}
|
||||
|
||||
/* Opposite to portSAVE_CONTEXT(). Interrupts will have been disabled during
|
||||
* the context save so we can write to the stack pointer. */
|
||||
#define portRESTORE_CONTEXT() \
|
||||
{ \
|
||||
asm volatile("lds r26, pxCurrentTCB \n\t" \
|
||||
"lds r27, pxCurrentTCB + 1 \n\t" \
|
||||
"ld r28, x+ \n\t" \
|
||||
"out __SP_L__, r28 \n\t" \
|
||||
"ld r29, x+ \n\t" \
|
||||
"out __SP_H__, r29 \n\t" \
|
||||
"pop r31 \n\t" \
|
||||
"pop r30 \n\t" \
|
||||
"pop r29 \n\t" \
|
||||
"pop r28 \n\t" \
|
||||
"pop r27 \n\t" \
|
||||
"pop r26 \n\t" \
|
||||
"pop r25 \n\t" \
|
||||
"pop r24 \n\t" \
|
||||
"pop r23 \n\t" \
|
||||
"pop r22 \n\t" \
|
||||
"pop r21 \n\t" \
|
||||
"pop r20 \n\t" \
|
||||
"pop r19 \n\t" \
|
||||
"pop r18 \n\t" \
|
||||
"pop r17 \n\t" \
|
||||
"pop r16 \n\t" \
|
||||
"pop r15 \n\t" \
|
||||
"pop r14 \n\t" \
|
||||
"pop r13 \n\t" \
|
||||
"pop r12 \n\t" \
|
||||
"pop r11 \n\t" \
|
||||
"pop r10 \n\t" \
|
||||
"pop r9 \n\t" \
|
||||
"pop r8 \n\t" \
|
||||
"pop r7 \n\t" \
|
||||
"pop r6 \n\t" \
|
||||
"pop r5 \n\t" \
|
||||
"pop r4 \n\t" \
|
||||
"pop r3 \n\t" \
|
||||
"pop r2 \n\t" \
|
||||
"pop r1 \n\t"); \
|
||||
portRESTORE_RAMPZ(); \
|
||||
asm volatile("pop r0 \n\t" \
|
||||
"out __SREG__, r0 \n\t" \
|
||||
"pop r0 \n\t"); \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portSET_MODE_AND_SLEEP(mode) \
|
||||
{ \
|
||||
set_sleep_mode(mode); \
|
||||
sleep_enable(); \
|
||||
portENABLE_INTERRUPTS(); \
|
||||
sleep_cpu(); \
|
||||
portDISABLE_INTERRUPTS(); \
|
||||
sleep_disable(); \
|
||||
}
|
||||
|
||||
/* *INDENT-OFF* */
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
/* *INDENT-ON* */
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
Reference in New Issue
Block a user