FreeRTOS port

7 files changed, 791 insertions, 0 deletions

diff --git a/zpu/sw/freertos/port/port.c b/zpu/sw/freertos/port/port.c
new file mode 100644
index 0000000..ff243ee
--- /dev/null
+++ b/zpu/sw/freertos/port/port.c
@@ -0,0 +1,271 @@
+/*

+	FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.

+

+	This file is part of the FreeRTOS.org distribution.

+

+	FreeRTOS.org 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 exception to the GPL is included to allow you to distribute a

+	combined work that includes FreeRTOS.org without being obliged to provide

+	the source code for any proprietary components.  Alternative commercial

+	license and support terms are also available upon request.  See the 

+	licensing section of http://www.FreeRTOS.org for full details.

+

+	FreeRTOS.org 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.  See the GNU General Public License for

+	more details.

+

+	You should have received a copy of the GNU General Public License along

+	with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59

+	Temple Place, Suite 330, Boston, MA  02111-1307  USA.

+

+

+	***************************************************************************

+	*                                                                         *

+	* Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *

+	*                                                                         *

+	* This is a concise, step by step, 'hands on' guide that describes both   *

+	* general multitasking concepts and FreeRTOS specifics. It presents and   *

+	* explains numerous examples that are written using the FreeRTOS API.     *

+	* Full source code for all the examples is provided in an accompanying    *

+	* .zip file.                                                              *

+	*                                                                         *

+	***************************************************************************

+

+	1 tab == 4 spaces!

+

+	Please ensure to read the configuration and relevant port sections of the

+	online documentation.

+

+	http://www.FreeRTOS.org - Documentation, latest information, license and

+	contact details.

+

+	http://www.SafeRTOS.com - A version that is certified for use in safety

+	critical systems.

+

+	http://www.OpenRTOS.com - Commercial support, development, porting,

+	licensing and training services.

+*/

+

+/*-----------------------------------------------------------

+ * Implementation of functions defined in portable.h for the MicroBlaze port.

+ *----------------------------------------------------------*/

+

+

+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+

+/* Standard includes. */

+#include <string.h>

+

+/* hardware/software platform specific defines */

+#define DISABLE_C_PROTOTYPES

+#include <devices.h>

+

+/* Tasks are started with interrupts enabled. */

+#define portINITIAL_INTERRUPT_ENABLE	( ( portSTACK_TYPE ) INTERRUPT_GLOBAL_ENABLE )

+

+/* Tasks are started with a critical section nesting of 0 - however prior

+to the scheduler being commenced we don't want the critical nesting level

+to reach zero, so it is initialised to a high value. */

+#define portINITIAL_NESTING_VALUE	( 0xff )

+

+/* The stack used by the ISR is filled with a known value to assist in

+debugging. */

+#define portISR_STACK_FILL_VALUE	0x55555555

+

+/* Counts the nesting depth of calls to portENTER_CRITICAL().  Each task 

+maintains it's own count, so this variable is saved as part of the task

+context. */

+volatile unsigned portBASE_TYPE uxCriticalNesting = portINITIAL_NESTING_VALUE;

+

+/* To limit the amount of stack required by each task, this port uses a

+separate stack for interrupts. */

+unsigned portLONG *pulISRStack;

+

+/*-----------------------------------------------------------*/

+

+/*

+ * Sets up the periodic ISR used for the RTOS tick.  This uses timer 0, but

+ * could have alternatively used the watchdog timer or timer 1.

+ */

+static void prvSetupTimerInterrupt( void );

+/*-----------------------------------------------------------*/

+

+/* 

+ * Initialise the stack of a task to look exactly as if a call to 

+ * portSAVE_CONTEXT had been made.

+ * 

+ * See the header file portable.h.

+ */

+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )

+{

+	/* Function call parameters. */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;

+

+	/* Place initial PC (task entry point) */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */

+

+	/* Place initial value for INTERRUPT global ENABLE */

+	pxTopOfStack--;

+	*pxTopOfStack = portINITIAL_INTERRUPT_ENABLE;	/* interrupt state (global enable) */

+	

+	/* Stack an initial value for the critical section nesting.  This

+	is initialised to zero as tasks are started with interrupts enabled. */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x00;

+

+	/* Place an initial value for all temporary registers mapped to mem[0..16] by gcc */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;	/* mem[0] */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x22222222;	/* mem[4] */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x33333333;	/* mem[8] */

+	pxTopOfStack--;

+	*pxTopOfStack = ( portSTACK_TYPE ) 0x44444444;	/* mem[12] */

+

+	/* Return a pointer to the top of the stack we have generated so this can

+	be stored in the task control block for the task. */

+	return pxTopOfStack;

+}

+/*-----------------------------------------------------------*/

+

+portBASE_TYPE xPortStartScheduler( void )

+{

+extern void ( __FreeRTOS_interrupt_handler )( void );

+extern void ( vStartFirstTask )( void );

+

+	/* Setup the FreeRTOS interrupt handler */

+	*(volatile unsigned *) INTERRUPT_VECTOR = (unsigned) __FreeRTOS_interrupt_handler;

+

+	/* Setup the hardware to generate the tick.  Interrupts are disabled when

+	this function is called. */

+	prvSetupTimerInterrupt();

+

+	/* Allocate the stack to be used by the interrupt handler. */

+	pulISRStack = ( unsigned portLONG * ) pvPortMalloc( configMINIMAL_STACK_SIZE * sizeof( portSTACK_TYPE ) );

+

+	/* Restore the context of the first task that is going to run. */

+	if( pulISRStack != NULL )

+	{

+		/* Fill the ISR stack with a known value to facilitate debugging. */

+		memset( pulISRStack, portISR_STACK_FILL_VALUE, configMINIMAL_STACK_SIZE * sizeof( portSTACK_TYPE ) );

+		pulISRStack += ( configMINIMAL_STACK_SIZE - 1 );

+

+		/* Kick off the first task. */

+		vStartFirstTask();

+	}

+

+	/* Should not get here as the tasks are now running! */

+	return pdFALSE;

+}

+/*-----------------------------------------------------------*/

+

+void vPortEndScheduler( void )

+{

+	/* Not implemented. */

+}

+/*-----------------------------------------------------------*/

+

+/*

+ * Manual context switch called by portYIELD or taskYIELD.  

+ */

+void vPortYield( void )

+{

+extern void VPortYieldASM( void );

+

+	/* Perform the context switch in a critical section to assure it is

+	not interrupted by the tick ISR.  It is not a problem to do this as

+	each task maintains it's own interrupt status. */

+	portENTER_CRITICAL();

+		/* Jump directly to the yield function to ensure there is no

+		compiler generated prologue code. */

+		asm volatile (	"im VPortYieldASM		\n\t" \

+						"call					\n\t" );

+	portEXIT_CRITICAL();

+}

+/*-----------------------------------------------------------*/

+

+/*

+ * Hardware initialisation to generate the RTOS tick.   

+ */

+static void prvSetupTimerInterrupt( void )

+{

+const unsigned portLONG ulCounterValue = configCPU_CLOCK_HZ / configTICK_RATE_HZ;

+

+	/* Initialize and start timer1 counter */

+	*(volatile unsigned *) TIMER1_PORT = ulCounterValue;

+	*(volatile unsigned *) TIMERS_CONTROL = TIMER1_ENABLE;

+	

+	/* Enable timer1 interrupt while maintaining other bit states

+	   but disable global enable */

+	*(volatile unsigned *) INTERRUPT_ENABLE &= ~INTERRUPT_GLOBAL_ENABLE;

+	*(volatile unsigned *) INTERRUPT_ENABLE |= INTERRUPT_TIMER1;

+}

+/*-----------------------------------------------------------*/

+

+/*

+ * The interrupt handler placed in the interrupt vector when the scheduler is

+ * started.  The task context has already been saved when this is called.

+ * This handler determines the interrupt source and calls the relevant 

+ * peripheral handler.

+ */

+void vTaskISRHandler( void )

+{

+void vTickISR(void);

+

+	unsigned int_status = *(volatile unsigned *) INTERRUPT_STATUS;

+	if(int_status & INTERRUPT_TIMER1)	vTickISR();

+}

+/*-----------------------------------------------------------*/

+

+/* 

+ * Handler for the timer interrupt.

+ */

+void vTickISR( void )

+{

+	/* Increment the RTOS tick - this might cause a task to unblock. */

+	vTaskIncrementTick();

+

+	/* Clear the timer interrupt */

+	/* ... in this platform, timer interrupt is cleared automatically */

+

+	/* If we are using the preemptive scheduler then we also need to determine

+	if this tick should cause a context switch. */

+	#if configUSE_PREEMPTION == 1

+		vTaskSwitchContext();

+	#endif

+}

+/*-----------------------------------------------------------*/

+

+void zpu_disable_interrupts(void)

+{	

+	*(volatile unsigned *) INTERRUPT_ENABLE &= ~INTERRUPT_GLOBAL_ENABLE;

+}

+

+void zpu_enable_interrupts(void)

+{

+	*(volatile unsigned *) INTERRUPT_ENABLE |= INTERRUPT_GLOBAL_ENABLE;

+}

+

+/*-----------------------------------------------------------*/

+

+void zpu_enter_critical(void)

+{

+	portDISABLE_INTERRUPTS();

+	uxCriticalNesting++;

+}

+									

+void zpu_exit_critical(void)

+{	

+	if( --uxCriticalNesting == 0 )

+	{

+  	  portENABLE_INTERRUPTS();

+  	}

+}

diff --git a/zpu/sw/freertos/port/portasm.s b/zpu/sw/freertos/port/portasm.s
new file mode 100644
index 0000000..29c41ab
--- /dev/null
+++ b/zpu/sw/freertos/port/portasm.s
@@ -0,0 +1,142 @@
+	.extern pxCurrentTCB

+	.extern vTaskISRHandler

+	.extern vTaskSwitchContext

+	.extern uxCriticalNesting

+	.extern pulISRStack

+

+	.global __FreeRTOS_interrupt_handler

+	.global VPortYieldASM

+	.global vStartFirstTask

+

+/* interrupt controller port */

+	.equ INTERRUPT_ENABLE,0x8020

+

+.macro portSAVE_CONTEXT

+	/* PC is at the top of stack */

+	

+	/* store interrupt global enable bit */

+	im INTERRUPT_ENABLE

+	load

+	im 1

+	and

+	

+	/* Store nesting critical level */

+	im uxCriticalNesting

+	load

+	

+	/* Store temporary registers */

+	im 0

+	load			/* store mem[0] */

+	im 4

+	load			/* store mem[4] */

+	im 8

+	load			/* store mem[8] */

+	im 12

+	load			/* store mem[12] */

+	

+	/* Store top of stack at pxCurrentTCB */

+	pushsp

+	im pxCurrentTCB

+	load

+	store

+.endm

+

+.macro portRESTORE_CONTEXT

+	im pxCurrentTCB		/* Load the top of stack value from the TCB. */

+	load

+	load

+	popsp

+	

+	/* Restore the temporary registers. */

+	im 12

+	store				/* restore mem[12] */

+	im 8

+	store				/* restore mem[8] */

+	im 4

+	store				/* restore mem[4] */

+	im 0

+	store				/* restore mem[0] */

+

+	/* Load the critical nesting value. */

+	im uxCriticalNesting

+	store

+

+	/* Set interrupt global enable status */

+	im INTERRUPT_ENABLE

+	load

+	im ~1

+	and

+	or

+	im INTERRUPT_ENABLE

+	store

+

+	/* restore PC and enable interrupts at ZPU level */

+	.byte 0x03			/* popint */

+.endm

+

+.macro portRESTORE_CONTEXT_NOINTERRUPT

+	im pxCurrentTCB		/* Load the top of stack value from the TCB. */

+	load

+	load

+	popsp

+	

+	/* Restore the temporary registers. */

+	im 12

+	store				/* restore mem[12] */

+	im 8

+	store				/* restore mem[8] */

+	im 4

+	store				/* restore mem[4] */

+	im 0

+	store				/* restore mem[0] */

+

+	/* Load the critical nesting value. */

+	im uxCriticalNesting

+	store

+

+	/* Set interrupt global enable status */

+	im INTERRUPT_ENABLE

+	load

+	im ~1

+	and

+	or

+	im INTERRUPT_ENABLE

+	store

+

+	/* restore PC */

+	poppc

+.endm

+

+	.text

+	.align  2

+

+__FreeRTOS_interrupt_handler:

+	portSAVE_CONTEXT

+

+	/* Now switch to use the ISR stack. */

+	im pulISRStack

+	load

+	popsp

+

+	/* Call function */

+	im vTaskISRHandler

+	call

+

+	portRESTORE_CONTEXT

+

+VPortYieldASM:

+	portSAVE_CONTEXT

+

+	/* Now switch to use the ISR stack. */

+	im pulISRStack

+	load

+	popsp

+

+	/* Call function to switch context */

+	im vTaskSwitchContext

+	call

+

+	portRESTORE_CONTEXT_NOINTERRUPT

+

+vStartFirstTask:

+	portRESTORE_CONTEXT_NOINTERRUPT

diff --git a/zpu/sw/freertos/port/portmacro.h b/zpu/sw/freertos/port/portmacro.h
new file mode 100644
index 0000000..2b4d35a
--- /dev/null
+++ b/zpu/sw/freertos/port/portmacro.h
@@ -0,0 +1,125 @@
+/*

+	FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.

+

+	This file is part of the FreeRTOS.org distribution.

+

+	FreeRTOS.org 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 exception to the GPL is included to allow you to distribute a

+	combined work that includes FreeRTOS.org without being obliged to provide

+	the source code for any proprietary components.  Alternative commercial

+	license and support terms are also available upon request.  See the 

+	licensing section of http://www.FreeRTOS.org for full details.

+

+	FreeRTOS.org 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.  See the GNU General Public License for

+	more details.

+

+	You should have received a copy of the GNU General Public License along

+	with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59

+	Temple Place, Suite 330, Boston, MA  02111-1307  USA.

+

+

+	***************************************************************************

+	*                                                                         *

+	* Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *

+	*                                                                         *

+	* This is a concise, step by step, 'hands on' guide that describes both   *

+	* general multitasking concepts and FreeRTOS specifics. It presents and   *

+	* explains numerous examples that are written using the FreeRTOS API.     *

+	* Full source code for all the examples is provided in an accompanying    *

+	* .zip file.                                                              *

+	*                                                                         *

+	***************************************************************************

+

+	1 tab == 4 spaces!

+

+	Please ensure to read the configuration and relevant port sections of the

+	online documentation.

+

+	http://www.FreeRTOS.org - Documentation, latest information, license and

+	contact details.

+

+	http://www.SafeRTOS.com - A version that is certified for use in safety

+	critical systems.

+

+	http://www.OpenRTOS.com - Commercial support, development, porting,

+	licensing and training services.

+*/

+

+#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	unsigned portLONG

+#define portBASE_TYPE	portLONG

+

+#if( configUSE_16_BIT_TICKS == 1 )

+	typedef unsigned portSHORT portTickType;

+	#define portMAX_DELAY ( portTickType ) 0xffff

+#else

+	typedef unsigned portLONG portTickType;

+	#define portMAX_DELAY ( portTickType ) 0xffffffff

+#endif

+/*-----------------------------------------------------------*/	

+

+/* Interrupt control macros. */

+void zpu_disable_interrupts(void);

+void zpu_enable_interrupts(void);

+#define portDISABLE_INTERRUPTS()	zpu_disable_interrupts()

+#define portENABLE_INTERRUPTS()		zpu_enable_interrupts()

+/*-----------------------------------------------------------*/

+

+/* Critical section macros. */

+void zpu_enter_critical(void);

+void zpu_exit_critical(void);

+#define portENTER_CRITICAL()		zpu_enter_critical()

+#define portEXIT_CRITICAL()			zpu_exit_critical()

+/*-----------------------------------------------------------*/

+

+/* Task utilities. */

+void vPortYield( void );

+#define portYIELD() 				vPortYield()

+

+void vTaskSwitchContext();

+#define portYIELD_FROM_ISR() 		vTaskSwitchContext()

+/*-----------------------------------------------------------*/

+

+/* Hardware specifics. */

+#define portBYTE_ALIGNMENT			4

+#define portSTACK_GROWTH			( -1 )

+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		

+#define portNOP()					asm volatile ( "nop\n" )

+/*-----------------------------------------------------------*/

+

+/* Task function macros as described on the FreeRTOS.org WEB site. */

+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )

+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

+

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* PORTMACRO_H */

+

diff --git a/zpu/sw/freertos/readme.txt b/zpu/sw/freertos/readme.txt
new file mode 100644
index 0000000..a1f1c89
--- /dev/null
+++ b/zpu/sw/freertos/readme.txt
@@ -0,0 +1,40 @@
+The FreeRTOS port was contributed by
+Antonio Anton <antonio.anton@anro-ingenieros.com>.
+
+Some of the files state that someone else is copyright
+holder, but I believe that to be copy and paste laziness
+and that, in fact, Antonio did this port.
+
+The port needs work, but is committed to ZPU git repository
+to get things started.
+
+Post questions to the zylin-zpu mailing list.
+
+Øyvind Harboe
+14/9-2009
+
+From Antonio:
+
+Ported version: 5.3.0
+Port goes to folder ${FREERTOS_ROOT}/Source/portable/GCC/ZPU
+
+portmacro.h : macro definitions for this port
+portasm.s   : contains code for context switch, interrupt handler and
+other initializations
+port.c      : other initialization functions that not need to be
+assembly code.
+
+(please note that #include <device.h> in port.c is specific for my ZPU
+port; it contains the definitions my peripherals)
+
+Each FreeRTOS application is compiled with the FreeRTOS port itself
+(source code).
+
+2nd file contains a sample application which includes the Makefile in
+order to compile & link against FreeRTOS port. It will link against some
+specific library (-lio) and specific linker file (sram-zpu.ld) which are
+not included. You must adapt these to your peripheral and memory
+configuration.
+
+At the moment there is no documentation but the source code is quite
+commented.
diff --git a/zpu/sw/freertos/sample/FreeRTOSConfig.h b/zpu/sw/freertos/sample/FreeRTOSConfig.h
new file mode 100644
index 0000000..d9470fd
--- /dev/null
+++ b/zpu/sw/freertos/sample/FreeRTOSConfig.h
@@ -0,0 +1,96 @@
+/*

+	FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry.

+

+	This file is part of the FreeRTOS.org distribution.

+

+	FreeRTOS.org 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 exception to the GPL is included to allow you to distribute a

+	combined work that includes FreeRTOS.org without being obliged to provide

+	the source code for any proprietary components.  Alternative commercial

+	license and support terms are also available upon request.  See the 

+	licensing section of http://www.FreeRTOS.org for full details.

+

+	FreeRTOS.org 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.  See the GNU General Public License for

+	more details.

+

+	You should have received a copy of the GNU General Public License along

+	with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59

+	Temple Place, Suite 330, Boston, MA  02111-1307  USA.

+

+

+	***************************************************************************

+	*                                                                         *

+	* Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *

+	*                                                                         *

+	* This is a concise, step by step, 'hands on' guide that describes both   *

+	* general multitasking concepts and FreeRTOS specifics. It presents and   *

+	* explains numerous examples that are written using the FreeRTOS API.     *

+	* Full source code for all the examples is provided in an accompanying    *

+	* .zip file.                                                              *

+	*                                                                         *

+	***************************************************************************

+

+	1 tab == 4 spaces!

+

+	Please ensure to read the configuration and relevant port sections of the

+	online documentation.

+

+	http://www.FreeRTOS.org - Documentation, latest information, license and

+	contact details.

+

+	http://www.SafeRTOS.com - A version that is certified for use in safety

+	critical systems.

+

+	http://www.OpenRTOS.com - Commercial support, development, porting,

+	licensing and training services.

+*/

+

+#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

+#define configUSE_IDLE_HOOK			0

+#define configUSE_TICK_HOOK			0

+#define configCPU_CLOCK_HZ			( ( unsigned portLONG ) 25000000 )

+#define configTICK_RATE_HZ			( ( portTickType ) 100 )

+#define configMAX_PRIORITIES		( ( unsigned portBASE_TYPE ) 4 )

+#define configMINIMAL_STACK_SIZE	( ( unsigned portLONG ) 256 )

+#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 8 * 1024 ) )

+#define configMAX_TASK_NAME_LEN		( 5 )

+#define configUSE_TRACE_FACILITY	0

+#define configUSE_16_BIT_TICKS		0

+#define configIDLE_SHOULD_YIELD		1

+

+/* Co-routine definitions. */

+#define configUSE_CO_ROUTINES 		0

+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

+

+/* 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				0

+#define INCLUDE_vTaskCleanUpResources	0

+#define INCLUDE_vTaskSuspend			1

+#define INCLUDE_vTaskDelayUntil			1

+#define INCLUDE_vTaskDelay				1

+

+

+#endif /* FREERTOS_CONFIG_H */

diff --git a/zpu/sw/freertos/sample/Makefile b/zpu/sw/freertos/sample/Makefile
new file mode 100644
index 0000000..d3a6f6f
--- /dev/null
+++ b/zpu/sw/freertos/sample/Makefile
@@ -0,0 +1,50 @@
+PRJ      =  test1
+PATH_SW  =  /home/antonan/desarrollo/zpu/sw
+INCLUDES =  $(PATH_SW)/freertos/Source/portable/GCC/ZPU/portmacro.h \
+		 	FreeRTOSConfig.h
+SRCS_C   =  $(PATH_SW)/freertos/Source/portable/GCC/ZPU/port.c \
+			$(PATH_SW)/freertos/Source/portable/MemMang/heap_1.c \
+		    $(PATH_SW)/freertos/Source/croutine.c \
+			$(PATH_SW)/freertos/Source/list.c \
+			$(PATH_SW)/freertos/Source/queue.c \
+			$(PATH_SW)/freertos/Source/tasks.c \
+			test1.c
+SRCS_ASM =  $(PATH_SW)/freertos/Source/portable/GCC/ZPU/portasm.s
+PATH_INC = -I$(PATH_SW)/include \
+		   -I$(PATH_SW)/freertos/Source/include \
+		   -I$(PATH_SW)/freertos/Source/portable/GCC/ZPU \
+		   -I$(PATH_SW)/freertos/Demo/ZPU \
+		   -I.
+OPTIONS  = -g -Os -DGCC_ZPU 
+LINK 	 = -T $(PATH_SW)/ldscripts/zpu-sram.ld
+CRT      =  $(PATH_SW)/startup/crt-sram.o
+LLIB     = -L $(PATH_SW)/lib
+LIBS     = -lio -lgcc --start-group -lc -lbcc --end-group -lgcc -lio
+LFLAGS   = --relax --gc-sections
+
+OBJS_ASM = $(SRCS_ASM:.s=.o)
+OBJS_C   = $(SRCS_C:.c=.o)
+
+$(PRJ).srec: $(PRJ).out
+	zpu-elf-objcopy -O srec $(PRJ).out $(PRJ).srec
+	zpu-elf-objcopy -O binary $(PRJ).out $(PRJ).bin
+	bin2rom $(PRJ).bin $(PRJ).rom
+
+$(OBJS_ASM): $(SRCS_ASM)
+	zpu-elf-gcc $(OPTIONS) $(PATH_INC) -B. -c -Wa,-ahlms=$(@:.o=.lst) -o $@ $(@:.o=.s)
+
+$(OBJS_C): $(SRCS_C) $(INCLUDES)
+	zpu-elf-gcc $(OPTIONS) $(PATH_INC) -B. -c -Wa,-ahlms=$(@:.o=.lst) -o $@ $(@:.o=.c)
+
+$(PRJ).out: $(CRT) $(OBJS_C) $(OBJS_ASM)
+	zpu-elf-ld $(LLIB) $(LFLAGS) $(LINK) -Map=$(PRJ).map -o $(PRJ).out $(CRT) $(OBJS_C) $(OBJS_ASM) $(LIBS)
+
+
+clean:
+	-rm *.o
+	-rm *.out
+	-rm *.bin
+	-rm *.map
+	-rm *.lst
+	-rm *.srec
+	-rm *.rom
diff --git a/zpu/sw/freertos/sample/test1.c b/zpu/sw/freertos/sample/test1.c
new file mode 100644
index 0000000..41b4296
--- /dev/null
+++ b/zpu/sw/freertos/sample/test1.c
@@ -0,0 +1,67 @@
+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "task.h"

+

+#include "devices.h"

+

+#define mainTINY_STACK	256

+void vTest(void *pvParameters);

+void vTest2(void *pvParameters);

+

+/*-----------------------------------------------------------*/

+

+/*

+ * Create all the demo tasks - then start the scheduler.

+ */

+int main (void) 

+{

+	/* When re-starting a debug session (rather than cold booting) we want

+	to ensure the installed interrupt handlers do not execute until after the

+	scheduler has been started. */

+	portDISABLE_INTERRUPTS();

+

+	#if configUSE_PREEMPTION == 1

+		xTaskCreate( vTest, "TST1", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL );

+		xTaskCreate( vTest2, "TST2", mainTINY_STACK, ( void * ) 10, tskIDLE_PRIORITY, NULL );

+	#endif

+

+	/* Finally start the scheduler. */

+	vTaskStartScheduler();

+

+	/* Should not get here as the processor is now under control of the 

+	scheduler! */

+

+   	return 0;

+}

+

+void vTest(void *pvParameters)

+{

+const portTickType xDelay = 100 / portTICK_RATE_MS;

+	unsigned bit = 16;

+	unsigned dir = 0;   

+	

+	for(;;)

+	{

+		CLEAR_BIT(SP3SK_GPIO, bit);

+		if(dir == 0) { if(++bit == 23) { dir=1; } }

+		else { if(--bit == 16) { dir=0;} }

+		SET_BIT(SP3SK_GPIO, bit);

+		vTaskDelay( xDelay );

+	}

+}

+

+void vTest2(void *pvParameters)

+{

+const portTickType xDelay = 250 / portTICK_RATE_MS;

+	unsigned pos;

+	char marcas[] = "|/-\\";

+	

+	for(;;)

+	{

+		uart1_printline("\r");

+		uart1_printline("Running...");

+		uart1_printchar(marcas[pos]);

+		if(++pos == 4) pos = 0;

+		vTaskDelay( xDelay );

+	}

+}