diff options
Diffstat (limited to 'Project/src/platform/stm32f0-gcc')
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/freertos/FreeRTOSConfig.h | 157 | ||||
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/freertos/port.c | 368 | ||||
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/freertos/portmacro.h | 157 | ||||
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/startup/handlers_cm.c | 113 | ||||
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/startup/stack.cpp | 7 | ||||
| -rw-r--r-- | Project/src/platform/stm32f0-gcc/startup/startup.cpp | 96 |
6 files changed, 898 insertions, 0 deletions
diff --git a/Project/src/platform/stm32f0-gcc/freertos/FreeRTOSConfig.h b/Project/src/platform/stm32f0-gcc/freertos/FreeRTOSConfig.h new file mode 100644 index 0000000..0f23839 --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/freertos/FreeRTOSConfig.h @@ -0,0 +1,157 @@ +/* + FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + This file is part of the FreeRTOS distribution. + + FreeRTOS is free software; you can redistribute it and/or modify it under + the terms of the GNU General Public License (version 2) as published by the + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html + + 1 tab == 4 spaces! + + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. + + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! +*/ + + +/* The following #error directive is to remind users that a batch file must be + * executed prior to this project being built. The batch file *cannot* be + * executed from within CCS4! Once it has been executed, re-open or refresh + * the CCS4 project and remove the #error line below. + */ +//#error Ensure CreateProjectDirectoryStructure.bat has been executed before building. See comment immediately above. + + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + * + * See http://www.freertos.org/a00110.html. + *----------------------------------------------------------*/ + +#define configUSE_PREEMPTION 1 // 1 - Вытесняющаяя многозадачность, 0 - Кооперативная +#define configUSE_IDLE_HOOK 1 +#define configUSE_TICK_HOOK 0 +#define configCPU_CLOCK_HZ ( 48000000UL ) // tros было 24000000UL +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES ( 5 ) + +#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 70 ) // trots, was 70 +#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10 * 1024 ) ) // trots, was 10 // Уменьшил MEM_SIZE в файле lwipopts.h + +#define configMAX_TASK_NAME_LEN ( 10 ) +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 1 +#define configUSE_MUTEXES 1 +#define configQUEUE_REGISTRY_SIZE 0 +#define configGENERATE_RUN_TIME_STATS 0 +#define configCHECK_FOR_STACK_OVERFLOW 2 // trots was 2 +#define configUSE_RECURSIVE_MUTEXES 0 +#define configUSE_MALLOC_FAILED_HOOK 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 0 + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 // Чтобы использовать программные таймеры, нужно единичку (там прототипы содержатся) +#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) + +/* Software timer definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( 3 ) +#define configTIMER_QUEUE_LENGTH 5 +#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE ) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 + +/* Use the system definition, if there is one */ +#ifdef __NVIC_PRIO_BITS + #define configPRIO_BITS __NVIC_PRIO_BITS +#else + #define configPRIO_BITS 4 /* 15 priority levels */ +#endif + +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 +#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 11 + +/* The lowest priority. */ +#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) +/* Priority 5, or 95 as only the top four bits are implemented. */ +/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! +See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ +#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) + +#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); } + +#define vPortSVCHandler SVCALL_handler +#define xPortPendSVHandler PENDSV_handler +#define xPortSysTickHandler SYSTICK_handler + +#endif /* FREERTOS_CONFIG_H */ + diff --git a/Project/src/platform/stm32f0-gcc/freertos/port.c b/Project/src/platform/stm32f0-gcc/freertos/port.c new file mode 100644 index 0000000..423ae1e --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/freertos/port.c @@ -0,0 +1,368 @@ +/*
+ FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the ARM CM0 port.
+ *----------------------------------------------------------*/
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Constants required to manipulate the NVIC. */
+#define portNVIC_SYSTICK_CTRL ( ( volatile uint32_t *) 0xe000e010 )
+#define portNVIC_SYSTICK_LOAD ( ( volatile uint32_t *) 0xe000e014 )
+#define portNVIC_INT_CTRL ( ( volatile uint32_t *) 0xe000ed04 )
+#define portNVIC_SYSPRI2 ( ( volatile uint32_t *) 0xe000ed20 )
+#define portNVIC_SYSTICK_CLK 0x00000004
+#define portNVIC_SYSTICK_INT 0x00000002
+#define portNVIC_SYSTICK_ENABLE 0x00000001
+#define portNVIC_PENDSVSET 0x10000000
+#define portMIN_INTERRUPT_PRIORITY ( 255UL )
+#define portNVIC_PENDSV_PRI ( portMIN_INTERRUPT_PRIORITY << 16UL )
+#define portNVIC_SYSTICK_PRI ( portMIN_INTERRUPT_PRIORITY << 24UL )
+
+/* Constants required to set up the initial stack. */
+#define portINITIAL_XPSR ( 0x01000000 )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+ #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
+#else
+ #define portTASK_RETURN_ADDRESS prvTaskExitError
+#endif
+
+/* Each task maintains its own interrupt status in the critical nesting
+variable. */
+static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
+
+/*
+ * Setup the timer to generate the tick interrupts.
+ */
+static void prvSetupTimerInterrupt( void );
+
+/*
+ * Exception handlers.
+ */
+void PENDSV_handler( void ) __attribute__ (( naked ));
+void SYSTICK_handler( void );
+void SVCALL_handler( void );
+
+/*
+ * Start first task is a separate function so it can be tested in isolation.
+ */
+static void vPortStartFirstTask( void ) __attribute__ (( naked ));
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+{
+ /* Simulate the stack frame as it would be created by a context switch
+ interrupt. */
+ pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
+ *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
+ pxTopOfStack--;
+ *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR */
+ pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
+ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
+ pxTopOfStack -= 8; /* R11..R4. */
+
+ return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+static void prvTaskExitError( void )
+{
+ /* A function that implements a task must not exit or attempt to return to
+ its caller as there is nothing to return to. If a task wants to exit it
+ should instead call vTaskDelete( NULL ).
+
+ Artificially force an assert() to be triggered if configASSERT() is
+ defined, then stop here so application writers can catch the error. */
+ configASSERT( uxCriticalNesting == ~0UL );
+ portDISABLE_INTERRUPTS();
+ for( ;; );
+}
+/*-----------------------------------------------------------*/
+
+void SVCALL_handler( void )
+{
+ /* This function is no longer used, but retained for backward
+ compatibility. */
+}
+/*-----------------------------------------------------------*/
+
+void vPortStartFirstTask( void )
+{
+ /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
+ table offset register that can be used to locate the initial stack value.
+ Not all M0 parts have the application vector table at address 0. */
+ __asm volatile(
+ " ldr r2, pxCurrentTCBConst2 \n" /* Obtain location of pxCurrentTCB. */
+ " ldr r3, [r2] \n"
+ " ldr r0, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " add r0, #32 \n" /* Discard everything up to r0. */
+ " msr psp, r0 \n" /* This is now the new top of stack to use in the task. */
+ " movs r0, #2 \n" /* Switch to the psp stack. */
+ " msr CONTROL, r0 \n"
+ " pop {r0-r5} \n" /* Pop the registers that are saved automatically. */
+ " mov lr, r5 \n" /* lr is now in r5. */
+ " cpsie i \n" /* The first task has its context and interrupts can be enabled. */
+ " pop {pc} \n" /* Finally, pop the PC to jump to the user defined task code. */
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst2: .word pxCurrentTCB "
+ );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+BaseType_t xPortStartScheduler( void )
+{
+ /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+ *(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
+ *(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
+
+ /* Start the timer that generates the tick ISR. Interrupts are disabled
+ here already. */
+ prvSetupTimerInterrupt();
+
+ /* Initialise the critical nesting count ready for the first task. */
+ uxCriticalNesting = 0;
+
+ /* Start the first task. */
+ vPortStartFirstTask();
+
+ /* Should never get here as the tasks will now be executing! Call the task
+ exit error function to prevent compiler warnings about a static function
+ not being called in the case that the application writer overrides this
+ functionality by defining configTASK_RETURN_ADDRESS. */
+ prvTaskExitError();
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+ /* Not implemented in ports where there is nothing to return to.
+ Artificially force an assert. */
+ configASSERT( uxCriticalNesting == 1000UL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortYield( void )
+{
+ /* Set a PendSV to request a context switch. */
+ *( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+ /* Barriers are normally not required but do ensure the code is completely
+ within the specified behaviour for the architecture. */
+ __asm volatile( "dsb" );
+ __asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortEnterCritical( void )
+{
+ portDISABLE_INTERRUPTS();
+ uxCriticalNesting++;
+ __asm volatile( "dsb" );
+ __asm volatile( "isb" );
+}
+/*-----------------------------------------------------------*/
+
+void vPortExitCritical( void )
+{
+ configASSERT( uxCriticalNesting );
+ uxCriticalNesting--;
+ if( uxCriticalNesting == 0 )
+ {
+ portENABLE_INTERRUPTS();
+ }
+}
+/*-----------------------------------------------------------*/
+
+uint32_t ulSetInterruptMaskFromISR( void )
+{
+ __asm volatile(
+ " mrs r0, PRIMASK \n"
+ " cpsid i \n"
+ " bx lr "
+ );
+
+ /* To avoid compiler warnings. This line will never be reached. */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMaskFromISR( uint32_t ulMask )
+{
+ __asm volatile(
+ " msr PRIMASK, r0 \n"
+ " bx lr "
+ );
+
+ /* Just to avoid compiler warning. */
+ ( void ) ulMask;
+}
+/*-----------------------------------------------------------*/
+
+void PENDSV_handler( void )
+{
+ /* This is a naked function. */
+
+ __asm volatile
+ (
+ " mrs r0, psp \n"
+ " \n"
+ " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
+ " ldr r2, [r3] \n"
+ " \n"
+ " sub r0, r0, #32 \n" /* Make space for the remaining low registers. */
+ " str r0, [r2] \n" /* Save the new top of stack. */
+ " stmia r0!, {r4-r7} \n" /* Store the low registers that are not saved automatically. */
+ " mov r4, r8 \n" /* Store the high registers. */
+ " mov r5, r9 \n"
+ " mov r6, r10 \n"
+ " mov r7, r11 \n"
+ " stmia r0!, {r4-r7} \n"
+ " \n"
+ " push {r3, r14} \n"
+ " cpsid i \n"
+ " bl vTaskSwitchContext \n"
+ " cpsie i \n"
+ " pop {r2, r3} \n" /* lr goes in r3. r2 now holds tcb pointer. */
+ " \n"
+ " ldr r1, [r2] \n"
+ " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
+ " add r0, r0, #16 \n" /* Move to the high registers. */
+ " ldmia r0!, {r4-r7} \n" /* Pop the high registers. */
+ " mov r8, r4 \n"
+ " mov r9, r5 \n"
+ " mov r10, r6 \n"
+ " mov r11, r7 \n"
+ " \n"
+ " msr psp, r0 \n" /* Remember the new top of stack for the task. */
+ " \n"
+ " sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */
+ " ldmia r0!, {r4-r7} \n" /* Pop low registers. */
+ " \n"
+ " bx r3 \n"
+ " \n"
+ " .align 2 \n"
+ "pxCurrentTCBConst: .word pxCurrentTCB "
+ );
+}
+/*-----------------------------------------------------------*/
+
+void SYSTICK_handler( void )
+{
+uint32_t ulPreviousMask;
+
+ ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+ {
+ /* Increment the RTOS tick. */
+ if( xTaskIncrementTick() != pdFALSE )
+ {
+ /* Pend a context switch. */
+ *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+ }
+ }
+ portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+void prvSetupTimerInterrupt( void )
+{
+ /* Configure SysTick to interrupt at the requested rate. */
+ *(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+ *(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
+}
+/*-----------------------------------------------------------*/
+
diff --git a/Project/src/platform/stm32f0-gcc/freertos/portmacro.h b/Project/src/platform/stm32f0-gcc/freertos/portmacro.h new file mode 100644 index 0000000..54c219e --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/freertos/portmacro.h @@ -0,0 +1,157 @@ +/*
+ FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd.
+ All rights reserved
+
+ VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+ ***************************************************************************
+ >>! NOTE: The modification to the GPL is included to allow you to !<<
+ >>! distribute a combined work that includes FreeRTOS without being !<<
+ >>! obliged to provide the source code for proprietary components !<<
+ >>! outside of the FreeRTOS kernel. !<<
+ ***************************************************************************
+
+ FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+ WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE. Full license text is available on the following
+ link: http://www.freertos.org/a00114.html
+
+ ***************************************************************************
+ * *
+ * FreeRTOS provides completely free yet professionally developed, *
+ * robust, strictly quality controlled, supported, and cross *
+ * platform software that is more than just the market leader, it *
+ * is the industry's de facto standard. *
+ * *
+ * Help yourself get started quickly while simultaneously helping *
+ * to support the FreeRTOS project by purchasing a FreeRTOS *
+ * tutorial book, reference manual, or both: *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ ***************************************************************************
+
+ http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
+ the FAQ page "My application does not run, what could be wrong?". Have you
+ defined configASSERT()?
+
+ http://www.FreeRTOS.org/support - In return for receiving this top quality
+ embedded software for free we request you assist our global community by
+ participating in the support forum.
+
+ http://www.FreeRTOS.org/training - Investing in training allows your team to
+ be as productive as possible as early as possible. Now you can receive
+ FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
+ Ltd, and the world's leading authority on the world's leading RTOS.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+ compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+ http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
+ Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
+
+ http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
+ Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
+ licenses offer ticketed support, indemnification and commercial middleware.
+
+ http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+ engineered and independently SIL3 certified version for use in safety and
+ mission critical applications that require provable dependability.
+
+ 1 tab == 4 spaces!
+*/
+
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*-----------------------------------------------------------
+ * Port specific definitions.
+ *
+ * The settings in this file configure FreeRTOS correctly for the
+ * given hardware and compiler.
+ *
+ * These settings should not be altered.
+ *-----------------------------------------------------------
+ */
+
+/* Type definitions. */
+#define portCHAR char
+#define portFLOAT float
+#define portDOUBLE double
+#define portLONG long
+#define portSHORT short
+#define portSTACK_TYPE uint32_t
+#define portBASE_TYPE long
+
+typedef portSTACK_TYPE StackType_t;
+typedef long BaseType_t;
+typedef unsigned long 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
+
+ /* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+ not need to be guarded with a critical section. */
+ #define portTICK_TYPE_IS_ATOMIC 1
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 8
+/*-----------------------------------------------------------*/
+
+
+/* Scheduler utilities. */
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG ( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
+#define portYIELD() vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+/*-----------------------------------------------------------*/
+
+
+/* Critical section management. */
+extern void vPortEnterCritical( void );
+extern void vPortExitCritical( void );
+extern uint32_t ulSetInterruptMaskFromISR( void ) __attribute__((naked));
+extern void vClearInterruptMaskFromISR( uint32_t ulMask ) __attribute__((naked));
+
+#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMaskFromISR( x )
+#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " )
+#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " )
+#define portENTER_CRITICAL() vPortEnterCritical()
+#define portEXIT_CRITICAL() vPortExitCritical()
+
+/*-----------------------------------------------------------*/
+
+/* 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 )
+
+#define portNOP()
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+
diff --git a/Project/src/platform/stm32f0-gcc/startup/handlers_cm.c b/Project/src/platform/stm32f0-gcc/startup/handlers_cm.c new file mode 100644 index 0000000..95b59a9 --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/startup/handlers_cm.c @@ -0,0 +1,113 @@ +/** + * Handlers setup code for Cortex-M. + */ + +typedef void (*ptr_func_t)(); + +// Undefined handler is pointing to this function, this stop MCU. +// This function name must by not mangled, so must be C, +// because alias("..") is working only with C code +void __stop() { while (1); } + +// Handlers for Cortex-M core. +// These handler are with attribute 'weak' and can be overwritten +// by non-weak function, default is __stop() function +__attribute__((weak, alias("__stop"))) void RESET_handler(); +__attribute__((weak, alias("__stop"))) void NMI_handler(); +__attribute__((weak, alias("__stop"))) void HARDFAULT_handler(); +__attribute__((weak, alias("__stop"))) void MEMMANAGE_handler(); +__attribute__((weak, alias("__stop"))) void BUSFAULT_handler(); +__attribute__((weak, alias("__stop"))) void USAGEFAULT_handler(); +__attribute__((weak, alias("__stop"))) void SVCALL_handler(); +__attribute__((weak, alias("__stop"))) void DEBUGMONITOR_handler(); +__attribute__((weak, alias("__stop"))) void PENDSV_handler(); +__attribute__((weak, alias("__stop"))) void SYSTICK_handler(); + +// Handlers for peripherals' interrupts +__attribute__((weak, alias("__stop"))) void WWDG_handler(); +__attribute__((weak, alias("__stop"))) void PVD_VDDIO2_handler(); +__attribute__((weak, alias("__stop"))) void RTC_handler(); +__attribute__((weak, alias("__stop"))) void FLASH_handler(); +__attribute__((weak, alias("__stop"))) void RCC_CRS_handler(); +__attribute__((weak, alias("__stop"))) void EXTI0_1_handler(); +__attribute__((weak, alias("__stop"))) void EXTI2_3_handler(); +__attribute__((weak, alias("__stop"))) void EXTI4_15_handler(); +__attribute__((weak, alias("__stop"))) void TSC_handler(); +__attribute__((weak, alias("__stop"))) void DMA_0064_handler(); +__attribute__((weak, alias("__stop"))) void DMA_DMA2_0068_handler(); +__attribute__((weak, alias("__stop"))) void DMA_DMA2_006C_handler(); +__attribute__((weak, alias("__stop"))) void ADC_COMP_handler(); +__attribute__((weak, alias("__stop"))) void TIM1_0074_handler(); +__attribute__((weak, alias("__stop"))) void TIM1_0078_handler(); +__attribute__((weak, alias("__stop"))) void TIM2_handler(); +__attribute__((weak, alias("__stop"))) void TIM3_handler(); +__attribute__((weak, alias("__stop"))) void TIM6_DAC_handler(); +__attribute__((weak, alias("__stop"))) void TIM7_handler(); +__attribute__((weak, alias("__stop"))) void TIM14_handler(); +__attribute__((weak, alias("__stop"))) void TIM15_handler(); +__attribute__((weak, alias("__stop"))) void TIM16_handler(); +__attribute__((weak, alias("__stop"))) void TIM17_handler(); +__attribute__((weak, alias("__stop"))) void I2C1_handler(); +__attribute__((weak, alias("__stop"))) void I2C2_handler(); +__attribute__((weak, alias("__stop"))) void SPI1_handler(); +__attribute__((weak, alias("__stop"))) void SPI2_handler(); +__attribute__((weak, alias("__stop"))) void USART1_handler(); +__attribute__((weak, alias("__stop"))) void USART2_handler(); +__attribute__((weak, alias("__stop"))) void USART_00B3_handler(); +__attribute__((weak, alias("__stop"))) void CEC_CAN_handler(); +__attribute__((weak, alias("__stop"))) void USB_handler(); + +// Dummy handler (for unused vectors) +__attribute__((weak, alias("__stop"))) void DUMMY_handler(); + +// Vector table for handlers +// This array will be placed in ".vectors" section defined in linker script. +__attribute__((section(".vectors"), used)) ptr_func_t __isr_vectors[] = { + RESET_handler, + NMI_handler, + HARDFAULT_handler, + MEMMANAGE_handler, + BUSFAULT_handler, + USAGEFAULT_handler, + DUMMY_handler, + DUMMY_handler, + DUMMY_handler, + DUMMY_handler, + SVCALL_handler, + DEBUGMONITOR_handler, + DUMMY_handler, + PENDSV_handler, + SYSTICK_handler, + WWDG_handler, + PVD_VDDIO2_handler, + RTC_handler, + FLASH_handler, + RCC_CRS_handler, + EXTI0_1_handler, + EXTI2_3_handler, + EXTI4_15_handler, + TSC_handler, + DMA_0064_handler, + DMA_DMA2_0068_handler, + DMA_DMA2_006C_handler, + ADC_COMP_handler, + TIM1_0074_handler, + TIM1_0078_handler, + TIM2_handler, + TIM3_handler, + TIM6_DAC_handler, + TIM7_handler, + TIM14_handler, + TIM15_handler, + TIM16_handler, + TIM17_handler, + I2C1_handler, + I2C2_handler, + SPI1_handler, + SPI2_handler, + USART1_handler, + USART2_handler, + USART_00B3_handler, + CEC_CAN_handler, + USB_handler, +}; diff --git a/Project/src/platform/stm32f0-gcc/startup/stack.cpp b/Project/src/platform/stm32f0-gcc/startup/stack.cpp new file mode 100644 index 0000000..d10595c --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/startup/stack.cpp @@ -0,0 +1,7 @@ +// stack definition code + +// top of stack +extern unsigned __stacktop; + +// initial stack pointer is first address of program +__attribute__((section(".stack"), used)) unsigned *__stack_init = &__stacktop; diff --git a/Project/src/platform/stm32f0-gcc/startup/startup.cpp b/Project/src/platform/stm32f0-gcc/startup/startup.cpp new file mode 100644 index 0000000..95276ae --- /dev/null +++ b/Project/src/platform/stm32f0-gcc/startup/startup.cpp @@ -0,0 +1,96 @@ +// very simple startup code with definition of handlers for all cortex-m cores + +typedef void (*ptr_func_t)(); + +// main application +extern "C" int main(); + +// location of these variables is defined in linker script +extern unsigned __data_start; +extern unsigned __data_end; +extern unsigned __data_load; + +extern unsigned __bss_start; +extern unsigned __bss_end; + +extern unsigned __heap_start; + +extern ptr_func_t __preinit_array_start[]; +extern ptr_func_t __preinit_array_end[]; + +extern ptr_func_t __init_array_start[]; +extern ptr_func_t __init_array_end[]; + +extern ptr_func_t __fini_array_start[]; +extern ptr_func_t __fini_array_end[]; + + +/** Copy default data to DATA section + */ +void copy_data() { + unsigned *src = &__data_load; + unsigned *dst = &__data_start; + while (dst < &__data_end) { + *dst++ = *src++; + } +} + +/** Erase BSS section + */ +void zero_bss() { + unsigned *dst = &__bss_start; + while (dst < &__bss_end) { + *dst++ = 0; + } +} + +/** Fill heap memory + */ +void fill_heap(unsigned fill=0x45455246) { + unsigned *dst = &__heap_start; + unsigned *msp_reg; + __asm__("mrs %0, msp\n" : "=r" (msp_reg) ); + while (dst < msp_reg) { + *dst++ = fill; + } +} + +/** Call constructors for static objects + */ +void call_init_array() { + auto array = __preinit_array_start; + while (array < __preinit_array_end) { + (*array)(); + array++; + } + + array = __init_array_start; + while (array < __init_array_end) { + (*array)(); + array++; + } +} + +/** Call destructors for static objects + */ +void call_fini_array() { + auto array = __fini_array_start; + while (array < __fini_array_end) { + (*array)(); + array++; + } +} + +// reset handler +extern "C" void RESET_handler() { + copy_data(); + zero_bss(); + fill_heap(); + call_init_array(); + // run application + main(); + // call destructors for static instances + call_fini_array(); + // stop + while (true); +} |