Port/xmos/upstream support

portable/ThirdParty/XMOS_XCC/XCORE200/port.c

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+
+/*
+ * FreeRTOS Kernel
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * 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. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * 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.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/* 
+ * Copyright (c) 2019, XMOS Ltd, All rights reserved
+ *
+ * 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.
+ */
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include <xs1.h>
+
+static hwtimer_t xKernelTimer;
+
+uint32_t ulPortYieldRequired = pdFALSE;
+
+/*-----------------------------------------------------------*/
+
+/***** TODO: These should be added to lib_xcore_c *****/
+static void _hwtimer_get_trigger_time( hwtimer_t t, uint32_t *time )
+{
+	asm volatile("getd %0, res[%1]" : "=r" (*time): "r" (t));
+}
+
+static xcore_c_error_t hwtimer_get_trigger_time( hwtimer_t t, uint32_t *time )
+{
+	RETURN_EXCEPTION_OR_ERROR( _hwtimer_get_trigger_time( t, time ) );
+}
+/******************************************************/
+
+DEFINE_RTOS_INTERRUPT_CALLBACK( pxKernelTimerISR, pvData )
+{
+	uint32_t ulLastTrigger;
+	uint32_t ulNow;
+
+	/* Need the next interrupt to be scheduled relative to
+	 * the current trigger time, rather than the current
+	 * time. */
+	hwtimer_get_trigger_time( xKernelTimer, &ulLastTrigger );
+
+	/* Check to see if the ISR is late. If it is, we don't
+	 * want to schedule the next interrupt to be in the past. */
+	hwtimer_get_time( xKernelTimer, &ulNow );
+	if( ulNow - ulLastTrigger >= configCPU_CLOCK_HZ / configTICK_RATE_HZ )
+	{
+		ulLastTrigger = ulNow;
+	}
+
+	ulLastTrigger += configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+	hwtimer_change_trigger_time( xKernelTimer, ulLastTrigger );
+
+#if configUPDATE_RTOS_TIME_FROM_TICK_ISR == 1
+	rtos_time_increment( RTOS_TICK_PERIOD( configTICK_RATE_HZ ) );
+#endif
+
+	if( xTaskIncrementTick() != pdFALSE )
+	{
+		ulPortYieldRequired = pdTRUE;
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvCoreInit( void )
+{
+	rtos_core_register();
+	asm volatile (
+			"ldap r11, kexcept\n\t"
+			"set kep, r11\n\t"
+			:
+			:
+			: "r11"
+	);
+
+	rtos_irq_enable( 1 );
+
+	uint32_t ulNow;
+	hwtimer_get_time( xKernelTimer, &ulNow );
+//	debug_printf( "The time is now (%u)\n", ulNow );
+
+	ulNow += configCPU_CLOCK_HZ / configTICK_RATE_HZ;
+
+	hwtimer_setup_interrupt_callback( xKernelTimer, ulNow, NULL, RTOS_INTERRUPT_CALLBACK( pxKernelTimerISR ) );
+	hwtimer_enable_trigger( xKernelTimer );
+}
+/*-----------------------------------------------------------*/
+
+DEFINE_RTOS_KERNEL_ENTRY( void, vPortStartSchedulerOnCore, void )
+{
+	prvCoreInit();
+
+	debug_printf( "FreeRTOS initialized\n" );
+
+	/*
+	 * Restore the context of the first thread
+	 * to run and jump into it.
+	 */
+	asm volatile (
+			"bu _freertos_restore_ctx\n\t"
+			: /* no outputs */
+			: /* no inputs */
+			: /* nothing is clobbered */
+	);
+}
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/* Public functions required by all ports below:             */
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+	//debug_printf( "Top of stack was %p for task %p\n", pxTopOfStack, pxCode );
+	/*
+	 * Grow the thread's stack by portTHREAD_CONTEXT_STACK_GROWTH
+	 * so we can push the context onto it.
+	 */
+	pxTopOfStack -= portTHREAD_CONTEXT_STACK_GROWTH;
+
+	uint32_t dp;
+	uint32_t cp;
+
+	/*
+	 * We need to get the current CP and DP pointers.
+	 */
+	asm volatile (
+			"ldaw r11, cp[0]\n\t" /* get CP into R11 */
+			"mov %0, r11\n\t" /* get R11 (CP) into cp */
+			"ldaw r11, dp[0]\n\t" /* get DP into R11 */
+			"mov %1, r11\n\t" /* get R11 (DP) into dp */
+			: "=r"(cp), "=r"(dp) /* output 0 is cp, output 1 is dp */
+			: /* there are no inputs */
+			: "r11" /* R11 gets clobbered */
+	);
+
+	/*
+	 * Push the thread context onto the stack.
+	 * Saved PC will point to the new thread's
+	 * entry pointer.
+	 * Interrupts will default to enabled.
+	 * KEDI is also set to enable dual issue mode
+	 * upon kernel entry.
+	 */
+	pxTopOfStack[ 1 ] = ( StackType_t ) pxCode;       /* SP[1]  := SPC */
+	pxTopOfStack[ 2 ] = (1<<9) | XS1_SR_IEBLE_MASK;   /* SP[2]  := SSR */
+	pxTopOfStack[ 3 ] = 0x00000000;                   /* SP[3]  := SED */
+	pxTopOfStack[ 4 ] = 0x00000000;                   /* SP[4]  := ET */
+	pxTopOfStack[ 5 ] = dp;                           /* SP[5]  := DP */
+	pxTopOfStack[ 6 ] = cp;                           /* SP[6]  := CP */
+	pxTopOfStack[ 7 ] = 0x00000000;                   /* SP[7]  := LR */
+	pxTopOfStack[ 8 ] = ( StackType_t ) pvParameters; /* SP[8]  := R0 */
+	pxTopOfStack[ 9 ] = 0x01010101;                   /* SP[9]  := R1 */
+	pxTopOfStack[ 10 ] = 0x02020202;                  /* SP[10] := R2 */
+	pxTopOfStack[ 11 ] = 0x03030303;                  /* SP[11] := R3 */
+	pxTopOfStack[ 12 ] = 0x04040404;                  /* SP[12] := R4 */
+	pxTopOfStack[ 13 ] = 0x05050505;                  /* SP[13] := R5 */
+	pxTopOfStack[ 14 ] = 0x06060606;                  /* SP[14] := R6 */
+	pxTopOfStack[ 15 ] = 0x07070707;                  /* SP[15] := R7 */
+	pxTopOfStack[ 16 ] = 0x08080808;                  /* SP[16] := R8 */
+	pxTopOfStack[ 17 ] = 0x09090909;                  /* SP[17] := R9 */
+	pxTopOfStack[ 18 ] = 0x10101010;                  /* SP[18] := R10 */
+	pxTopOfStack[ 19 ] = 0x11111111;                  /* SP[19] := R11 */
+
+	//debug_printf( "Top of stack is now %p for task %p\n", pxTopOfStack, pxCode );
+
+	/*
+	 * Returns the new top of the stack
+	 */
+	return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+	rtos_locks_initialize();
+	hwtimer_alloc( &xKernelTimer );
+	RTOS_KERNEL_ENTRY(vPortStartSchedulerOnCore)();
+
+	return pdPASS;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+	/* Do not implement. */
+}
+/*-----------------------------------------------------------*/