len0rd/FreeRTOS-Kernel
1
0
Fork 0
mirror of https://github.com/FreeRTOS/FreeRTOS-Kernel.git synced 2025-09-12 00:57:44 -04:00
Code Issues Projects Releases Packages Wiki Activity

Style: Revert some uncrutified files

Browse source
This commit is contained in:
Alfred Gedeon 2020-08-11 21:59:06 -07:00 • committed by alfred gedeon
parent 54ee4d62bd
commit 06e28e8cd0
5 changed files with 427 additions and 421 deletions
Download patch file Download diff file Expand all files Collapse all files

345
portable/CCS/ARM_Cortex-R4/port.c
View file

@ -37,28 +37,28 @@ uint32_t ulCriticalNesting = 9999;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Registers required to configure the RTI. */ /* Registers required to configure the RTI. */
#define portRTI_GCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC00 ) ) #define portRTI_GCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC00 ) )
#define portRTI_TBCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC04 ) ) #define portRTI_TBCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC04 ) )
#define portRTI_COMPCTRL_REG ( *( ( volatile uint32_t * ) 0xFFFFFC0C ) ) #define portRTI_COMPCTRL_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC0C ) )
#define portRTI_CNT0_FRC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC10 ) ) #define portRTI_CNT0_FRC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC10 ) )
#define portRTI_CNT0_UC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC14 ) ) #define portRTI_CNT0_UC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC14 ) )
#define portRTI_CNT0_CPUC0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC18 ) ) #define portRTI_CNT0_CPUC0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC18 ) )
#define portRTI_CNT0_COMP0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC50 ) ) #define portRTI_CNT0_COMP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC50 ) )
#define portRTI_CNT0_UDCP0_REG ( *( ( volatile uint32_t * ) 0xFFFFFC54 ) ) #define portRTI_CNT0_UDCP0_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC54 ) )
#define portRTI_SETINTENA_REG ( *( ( volatile uint32_t * ) 0xFFFFFC80 ) ) #define portRTI_SETINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC80 ) )
#define portRTI_CLEARINTENA_REG ( *( ( volatile uint32_t * ) 0xFFFFFC84 ) ) #define portRTI_CLEARINTENA_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC84 ) )
#define portRTI_INTFLAG_REG ( *( ( volatile uint32_t * ) 0xFFFFFC88 ) ) #define portRTI_INTFLAG_REG ( * ( ( volatile uint32_t * ) 0xFFFFFC88 ) )
/* Constants required to set up the initial stack of each task. */ /* Constants required to set up the initial stack of each task. */
#define portINITIAL_SPSR ( ( StackType_t ) 0x1F ) #define portINITIAL_SPSR ( ( StackType_t ) 0x1F )
#define portINITIAL_FPSCR ( ( StackType_t ) 0x00 ) #define portINITIAL_FPSCR ( ( StackType_t ) 0x00 )
#define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 ) #define portINSTRUCTION_SIZE ( ( StackType_t ) 0x04 )
#define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 ) #define portTHUMB_MODE_BIT ( ( StackType_t ) 0x20 )
/* The number of words on the stack frame between the saved Top Of Stack and /* The number of words on the stack frame between the saved Top Of Stack and
* R0 (in which the parameters are passed. */ R0 (in which the parameters are passed. */
#define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 ) #define portSPACE_BETWEEN_TOS_AND_PARAMETERS ( 12 )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -68,7 +68,7 @@ extern void vPortStartFirstTask( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Saved as part of the task context. Set to pdFALSE if the task does not /* Saved as part of the task context. Set to pdFALSE if the task does not
* require an FPU context. */ require an FPU context. */
uint32_t ulTaskHasFPUContext = 0; uint32_t ulTaskHasFPUContext = 0;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -77,183 +77,181 @@ uint32_t ulTaskHasFPUContext = 0;
/* /*
* See header file for description. * See header file for description.
*/ */
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
TaskFunction_t pxCode,
void * pvParameters )
{ {
StackType_t * pxOriginalTOS; StackType_t *pxOriginalTOS;
pxOriginalTOS = pxTopOfStack; pxOriginalTOS = pxTopOfStack;
#if __TI_VFP_SUPPORT__ #if __TI_VFP_SUPPORT__
{ {
/* Ensure the stack is correctly aligned on exit. */ /* Ensure the stack is correctly aligned on exit. */
pxTopOfStack--; pxTopOfStack--;
} }
#endif #endif
/* Setup the initial stack of the task. The stack is set exactly as /* Setup the initial stack of the task. The stack is set exactly as
* expected by the portRESTORE_CONTEXT() macro. */ expected by the portRESTORE_CONTEXT() macro. */
/* First on the stack is the return address - which is the start of the as /* First on the stack is the return address - which is the start of the as
* the task has not executed yet. The offset is added to make the return the task has not executed yet. The offset is added to make the return
* address appear as it would within an IRQ ISR. */ address appear as it would within an IRQ ISR. */
*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE; *pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */ *pxTopOfStack = ( StackType_t ) 0x00000000; /* R14 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */ *pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
pxTopOfStack--; pxTopOfStack--;
#ifdef portPRELOAD_TASK_REGISTERS #ifdef portPRELOAD_TASK_REGISTERS
{ {
*pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */ *pxTopOfStack = ( StackType_t ) 0x12121212; /* R12 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */ *pxTopOfStack = ( StackType_t ) 0x11111111; /* R11 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */ *pxTopOfStack = ( StackType_t ) 0x10101010; /* R10 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */ *pxTopOfStack = ( StackType_t ) 0x09090909; /* R9 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */ *pxTopOfStack = ( StackType_t ) 0x08080808; /* R8 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */ *pxTopOfStack = ( StackType_t ) 0x07070707; /* R7 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */ *pxTopOfStack = ( StackType_t ) 0x06060606; /* R6 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */ *pxTopOfStack = ( StackType_t ) 0x05050505; /* R5 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */ *pxTopOfStack = ( StackType_t ) 0x04040404; /* R4 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */ *pxTopOfStack = ( StackType_t ) 0x03030303; /* R3 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */ *pxTopOfStack = ( StackType_t ) 0x02020202; /* R2 */
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */ *pxTopOfStack = ( StackType_t ) 0x01010101; /* R1 */
pxTopOfStack--; pxTopOfStack--;
} }
#else /* ifdef portPRELOAD_TASK_REGISTERS */ #else
{ {
pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS; pxTopOfStack -= portSPACE_BETWEEN_TOS_AND_PARAMETERS;
} }
#endif /* ifdef portPRELOAD_TASK_REGISTERS */ #endif
/* Function parameters are passed in R0. */ /* Function parameters are passed in R0. */
*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */ *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
pxTopOfStack--; pxTopOfStack--;
/* Set the status register for system mode, with interrupts enabled. */ /* Set the status register for system mode, with interrupts enabled. */
*pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR ); *pxTopOfStack = ( StackType_t ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR );
if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 ) if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
{ {
/* The task will start in thumb mode. */ /* The task will start in thumb mode. */
*pxTopOfStack |= portTHUMB_MODE_BIT; *pxTopOfStack |= portTHUMB_MODE_BIT;
} }
#ifdef __TI_VFP_SUPPORT__ #ifdef __TI_VFP_SUPPORT__
{ {
pxTopOfStack--; pxTopOfStack--;
/* The last thing on the stack is the tasks ulUsingFPU value, which by /* The last thing on the stack is the tasks ulUsingFPU value, which by
* default is set to indicate that the stack frame does not include FPU default is set to indicate that the stack frame does not include FPU
* registers. */ registers. */
*pxTopOfStack = pdFALSE; *pxTopOfStack = pdFALSE;
} }
#endif #endif
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt(void)
{ {
/* Disable timer 0. */ /* Disable timer 0. */
portRTI_GCTRL_REG &= 0xFFFFFFFEUL; portRTI_GCTRL_REG &= 0xFFFFFFFEUL;
/* Use the internal counter. */ /* Use the internal counter. */
portRTI_TBCTRL_REG = 0x00000000U; portRTI_TBCTRL_REG = 0x00000000U;
/* COMPSEL0 will use the RTIFRC0 counter. */ /* COMPSEL0 will use the RTIFRC0 counter. */
portRTI_COMPCTRL_REG = 0x00000000U; portRTI_COMPCTRL_REG = 0x00000000U;
/* Initialise the counter and the prescale counter registers. */ /* Initialise the counter and the prescale counter registers. */
portRTI_CNT0_UC0_REG = 0x00000000U; portRTI_CNT0_UC0_REG = 0x00000000U;
portRTI_CNT0_FRC0_REG = 0x00000000U; portRTI_CNT0_FRC0_REG = 0x00000000U;
/* Set Prescalar for RTI clock. */ /* Set Prescalar for RTI clock. */
portRTI_CNT0_CPUC0_REG = 0x00000001U; portRTI_CNT0_CPUC0_REG = 0x00000001U;
portRTI_CNT0_COMP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; portRTI_CNT0_COMP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ;
portRTI_CNT0_UDCP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ; portRTI_CNT0_UDCP0_REG = ( configCPU_CLOCK_HZ / 2 ) / configTICK_RATE_HZ;
/* Clear interrupts. */ /* Clear interrupts. */
portRTI_INTFLAG_REG = 0x0007000FU; portRTI_INTFLAG_REG = 0x0007000FU;
portRTI_CLEARINTENA_REG = 0x00070F0FU; portRTI_CLEARINTENA_REG = 0x00070F0FU;
/* Enable the compare 0 interrupt. */ /* Enable the compare 0 interrupt. */
portRTI_SETINTENA_REG = 0x00000001U; portRTI_SETINTENA_REG = 0x00000001U;
portRTI_GCTRL_REG |= 0x00000001U; portRTI_GCTRL_REG |= 0x00000001U;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
BaseType_t xPortStartScheduler( void ) BaseType_t xPortStartScheduler(void)
{ {
/* Start the timer that generates the tick ISR. */ /* Start the timer that generates the tick ISR. */
prvSetupTimerInterrupt(); prvSetupTimerInterrupt();
/* Reset the critical section nesting count read to execute the first task. */ /* Reset the critical section nesting count read to execute the first task. */
ulCriticalNesting = 0; ulCriticalNesting = 0;
/* Start the first task. This is done from portASM.asm as ARM mode must be /* Start the first task. This is done from portASM.asm as ARM mode must be
* used. */ used. */
vPortStartFirstTask(); vPortStartFirstTask();
/* Should not get here! */ /* Should not get here! */
return pdFAIL; return pdFAIL;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* See header file for description. * See header file for description.
*/ */
void vPortEndScheduler( void ) void vPortEndScheduler(void)
{ {
/* Not implemented in ports where there is nothing to return to. /* Not implemented in ports where there is nothing to return to.
* Artificially force an assert. */ Artificially force an assert. */
configASSERT( ulCriticalNesting == 1000UL ); configASSERT( ulCriticalNesting == 1000UL );
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if configUSE_PREEMPTION == 0 #if configUSE_PREEMPTION == 0
/* The cooperative scheduler requires a normal IRQ service routine to /* The cooperative scheduler requires a normal IRQ service routine to
* simply increment the system tick. */ * simply increment the system tick. */
__interrupt void vPortNonPreemptiveTick( void ) __interrupt void vPortNonPreemptiveTick( void )
{ {
/* clear clock interrupt flag */ /* clear clock interrupt flag */
portRTI_INTFLAG_REG = 0x00000001; portRTI_INTFLAG_REG = 0x00000001;
/* Increment the tick count - this may make a delaying task ready /* Increment the tick count - this may make a delaying task ready
* to run - but a context switch is not performed. */ to run - but a context switch is not performed. */
xTaskIncrementTick(); xTaskIncrementTick();
} }
#else /* if configUSE_PREEMPTION == 0 */ #else
/* /*
************************************************************************** **************************************************************************
* The preemptive scheduler ISR is written in assembler and can be found * The preemptive scheduler ISR is written in assembler and can be found
* in the portASM.asm file. This will only get used if portUSE_PREEMPTION * in the portASM.asm file. This will only get used if portUSE_PREEMPTION
* is set to 1 in portmacro.h * is set to 1 in portmacro.h
************************************************************************** **************************************************************************
*/ */
void vPortPreemptiveTick( void ); void vPortPreemptiveTick( void );
#endif /* if configUSE_PREEMPTION == 0 */ #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -262,13 +260,13 @@ void vPortEndScheduler( void )
*/ */
void vPortEnterCritical( void ) void vPortEnterCritical( void )
{ {
/* Disable interrupts as per portDISABLE_INTERRUPTS(); */ /* Disable interrupts as per portDISABLE_INTERRUPTS(); */
portDISABLE_INTERRUPTS(); portDISABLE_INTERRUPTS();
/* Now interrupts are disabled ulCriticalNesting can be accessed /* Now interrupts are disabled ulCriticalNesting can be accessed
* directly. Increment ulCriticalNesting to keep a count of how many times directly. Increment ulCriticalNesting to keep a count of how many times
* portENTER_CRITICAL() has been called. */ portENTER_CRITICAL() has been called. */
ulCriticalNesting++; ulCriticalNesting++;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -278,36 +276,37 @@ void vPortEnterCritical( void )
*/ */
void vPortExitCritical( void ) void vPortExitCritical( void )
{ {
if( ulCriticalNesting > 0 ) if( ulCriticalNesting > 0 )
{ {
/* Decrement the nesting count as we are leaving a critical section. */ /* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--; ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be /* If the nesting level has reached zero then interrupts should be
* re-enabled. */ re-enabled. */
if( ulCriticalNesting == 0 ) if( ulCriticalNesting == 0 )
{ {
/* Enable interrupts as per portENABLE_INTERRUPTS(). */ /* Enable interrupts as per portENABLE_INTERRUPTS(). */
portENABLE_INTERRUPTS(); portENABLE_INTERRUPTS();
} }
} }
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#if __TI_VFP_SUPPORT__ #if __TI_VFP_SUPPORT__
void vPortTaskUsesFPU( void ) void vPortTaskUsesFPU( void )
{ {
extern void vPortInitialiseFPSCR( void ); extern void vPortInitialiseFPSCR( void );
/* A task is registering the fact that it needs an FPU context. Set the /* A task is registering the fact that it needs an FPU context. Set the
* FPU flag (saved as part of the task context. */ FPU flag (saved as part of the task context. */
ulTaskHasFPUContext = pdTRUE; ulTaskHasFPUContext = pdTRUE;
/* Initialise the floating point status register. */ /* Initialise the floating point status register. */
vPortInitialiseFPSCR(); vPortInitialiseFPSCR();
} }
#endif /* __TI_VFP_SUPPORT__ */ #endif /* __TI_VFP_SUPPORT__ */
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/

89
portable/CCS/ARM_Cortex-R4/portmacro.h
View file

@ -39,78 +39,79 @@
*/ */
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT short #define portSHORT short
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#define portBASE_TYPE long #define portBASE_TYPE long
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef long BaseType_t; typedef long BaseType_t;
typedef unsigned long UBaseType_t; typedef unsigned long UBaseType_t;
#if ( configUSE_16_BIT_TICKS == 1 ) #if (configUSE_16_BIT_TICKS == 1)
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xFFFF #define portMAX_DELAY (TickType_t) 0xFFFF
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xFFFFFFFFF #define portMAX_DELAY (TickType_t) 0xFFFFFFFFF
/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do /* 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. */ not need to be guarded with a critical section. */
#define portTICK_TYPE_IS_ATOMIC 1 #define portTICK_TYPE_IS_ATOMIC 1
#endif #endif
/* Architecture specifics. */ /* Architecture specifics. */
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH (-1)
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ((TickType_t) 1000 / configTICK_RATE_HZ)
#define portBYTE_ALIGNMENT 8 #define portBYTE_ALIGNMENT 8
/* Critical section handling. */ /* Critical section handling. */
extern void vPortEnterCritical( void ); extern void vPortEnterCritical(void);
extern void vPortExitCritical( void ); extern void vPortExitCritical(void);
#define portENTER_CRITICAL() vPortEnterCritical() #define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical() #define portEXIT_CRITICAL() vPortExitCritical()
#define portDISABLE_INTERRUPTS() asm ( " CPSID I" ) #define portDISABLE_INTERRUPTS() asm( " CPSID I" )
#define portENABLE_INTERRUPTS() asm ( " CPSIE I" ) #define portENABLE_INTERRUPTS() asm( " CPSIE I" )
/* Scheduler utilities. */ /* Scheduler utilities. */
#pragma SWI_ALIAS( vPortYield, 0 ) #pragma SWI_ALIAS( vPortYield, 0 )
extern void vPortYield( void ); extern void vPortYield( void );
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
#define portSYS_SSIR1_REG ( *( ( volatile uint32_t * ) 0xFFFFFFB0 ) ) #define portSYS_SSIR1_REG ( * ( ( volatile uint32_t * ) 0xFFFFFFB0 ) )
#define portSYS_SSIR1_SSKEY ( 0x7500UL ) #define portSYS_SSIR1_SSKEY ( 0x7500UL )
#define portYIELD_WITHIN_API() { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; asm ( " DSB " ); asm ( " ISB " ); } #define portYIELD_WITHIN_API() { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; asm( " DSB " ); asm( " ISB " ); }
#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) { portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; ( void ) portSYS_SSIR1_REG; } #define portYIELD_FROM_ISR( x ) if( x != pdFALSE ){ portSYS_SSIR1_REG = portSYS_SSIR1_SSKEY; ( void ) portSYS_SSIR1_REG; }
#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#endif #endif
/* Architecture specific optimisations. */ /* Architecture specific optimisations. */
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1 #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */ /* Check the configuration. */
#if ( configMAX_PRIORITIES > 32 ) #if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice. #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif #endif
/* Store/clear the ready priorities in a bit map. */ /* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) ) #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __clz( ( uxReadyPriorities ) ) )
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */ #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) #define portTASK_FUNCTION(vFunction, pvParameters) void vFunction(void *pvParameters)
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) #define portTASK_FUNCTION_PROTO(vFunction, pvParameters) void vFunction(void *pvParameters)
#endif /* __PORTMACRO_H__ */ #endif /* __PORTMACRO_H__ */

97
portable/CCS/MSP430X/data_model.h
View file

@ -1,48 +1,53 @@
; /* ;/*
* ; * FreeRTOS Kernel V10.3.1 ; * FreeRTOS Kernel V10.3.1
* ; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. ; * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
* ; * ; *
* ; * Permission is hereby granted, free of charge, to any person obtaining a copy of ; * 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 ; * this software and associated documentation files (the "Software"), to deal in
* ; * the Software without restriction, including without limitation the rights to ; * the Software without restriction, including without limitation the rights to
* ; * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of ; * 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, ; * the Software, and to permit persons to whom the Software is furnished to do so,
* ; * subject to the following conditions: ; * subject to the following conditions:
* ; * ; *
* ; * The above copyright notice and this permission notice shall be included in all ; * The above copyright notice and this permission notice shall be included in all
* ; * copies or substantial portions of the Software. ; * copies or substantial portions of the Software.
* ; * ; *
* ; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR ; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* ; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS ; * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* ; * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR ; * 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 ; * 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 ; * 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. ; * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
* ; * ; *
* ; * http://www.FreeRTOS.org ; * http://www.FreeRTOS.org
* ; * http://aws.amazon.com/freertos ; * http://aws.amazon.com/freertos
* ; * ; *
* ; * 1 tab == 4 spaces! ; * 1 tab == 4 spaces!
* ; */ ; */
.if $DEFINED( __LARGE_DATA_MODEL__ )
.define "pushm.a", pushm_x
.define "popm.a", popm_x
.define "push.a", push_x
.define "pop.a", pop_x
.define "mov.a", mov_x
.else
.define "pushm.w", pushm_x
.define "popm.w", popm_x
.define "push.w", push_x
.define "pop.w", pop_x
.define "mov.w", mov_x
.endif
.if $DEFINED( __LARGE_CODE_MODEL__ )
.define "calla", call_x
.define "reta", ret_x
.else
.define "call", call_x
.define "ret", ret_x
.endif
.if $DEFINED( __LARGE_DATA_MODEL__ )
.define "pushm.a", pushm_x
.define "popm.a", popm_x
.define "push.a", push_x
.define "pop.a", pop_x
.define "mov.a", mov_x
.else
.define "pushm.w", pushm_x
.define "popm.w", popm_x
.define "push.w", push_x
.define "pop.w", pop_x
.define "mov.w", mov_x
.endif
.if $DEFINED( __LARGE_CODE_MODEL__ )
.define "calla", call_x
.define "reta", ret_x
.else
.define "call", call_x
.define "ret", ret_x
.endif

202
portable/CCS/MSP430X/port.c
View file

@ -30,28 +30,28 @@
#include "task.h" #include "task.h"
/*----------------------------------------------------------- /*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the MSP430X port. * Implementation of functions defined in portable.h for the MSP430X port.
*----------------------------------------------------------*/ *----------------------------------------------------------*/
/* Constants required for hardware setup. The tick ISR runs off the ACLK, /* Constants required for hardware setup. The tick ISR runs off the ACLK,
* not the MCLK. */ not the MCLK. */
#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 ) #define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 )
#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) #define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )
#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 ) #define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 )
/* We require the address of the pxCurrentTCB variable, but don't want to know /* We require the address of the pxCurrentTCB variable, but don't want to know
* any details of its type. */ any details of its type. */
typedef void TCB_t; typedef void TCB_t;
extern volatile TCB_t * volatile pxCurrentTCB; extern volatile TCB_t * volatile pxCurrentTCB;
/* Each task maintains a count of the critical section nesting depth. Each /* Each task maintains a count of the critical section nesting depth. Each
* time a critical section is entered the count is incremented. Each time a time a critical section is entered the count is incremented. Each time a
* critical section is exited the count is decremented - with interrupts only critical section is exited the count is decremented - with interrupts only
* being re-enabled if the count is zero. being re-enabled if the count is zero.
*
* usCriticalNesting will get set to zero when the scheduler starts, but must usCriticalNesting will get set to zero when the scheduler starts, but must
* not be initialised to zero as this will cause problems during the startup not be initialised to zero as this will cause problems during the startup
* sequence. */ sequence. */
volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -69,96 +69,94 @@ void vPortSetupTimerInterrupt( void );
* *
* See the header file portable.h. * See the header file portable.h.
*/ */
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
TaskFunction_t pxCode,
void * pvParameters )
{ {
uint16_t * pusTopOfStack; uint16_t *pusTopOfStack;
uint32_t * pulTopOfStack, ulTemp; uint32_t *pulTopOfStack, ulTemp;
/* /*
* Place a few bytes of known values on the bottom of the stack. Place a few bytes of known values on the bottom of the stack.
* This is just useful for debugging and can be included if required. This is just useful for debugging and can be included if required.
*
* pxTopOfStack = ( StackType_t ) 0x1111;
* pxTopOfStack--;
* pxTopOfStack = ( StackType_t ) 0x2222;
* pxTopOfStack--;
* pxTopOfStack = ( StackType_t ) 0x3333;
* pxTopOfStack--;
*/
/* Data types are need either 16 bits or 32 bits depending on the data *pxTopOfStack = ( StackType_t ) 0x1111;
* and code model used. */ pxTopOfStack--;
if( sizeof( pxCode ) == sizeof( uint16_t ) ) *pxTopOfStack = ( StackType_t ) 0x2222;
{ pxTopOfStack--;
pusTopOfStack = ( uint16_t * ) pxTopOfStack; *pxTopOfStack = ( StackType_t ) 0x3333;
ulTemp = ( uint32_t ) pxCode; pxTopOfStack--;
*pusTopOfStack = ( uint16_t ) ulTemp; */
}
else
{
/* Make room for a 20 bit value stored as a 32 bit value. */
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
pusTopOfStack--;
pulTopOfStack = ( uint32_t * ) pusTopOfStack;
*pulTopOfStack = ( uint32_t ) pxCode;
}
pusTopOfStack--; /* Data types are need either 16 bits or 32 bits depending on the data
*pusTopOfStack = portFLAGS_INT_ENABLED; and code model used. */
pusTopOfStack -= ( sizeof( StackType_t ) / 2 ); if( sizeof( pxCode ) == sizeof( uint16_t ) )
{
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
ulTemp = ( uint32_t ) pxCode;
*pusTopOfStack = ( uint16_t ) ulTemp;
}
else
{
/* Make room for a 20 bit value stored as a 32 bit value. */
pusTopOfStack = ( uint16_t * ) pxTopOfStack;
pusTopOfStack--;
pulTopOfStack = ( uint32_t * ) pusTopOfStack;
*pulTopOfStack = ( uint32_t ) pxCode;
}
/* From here on the size of stacked items depends on the memory model. */ pusTopOfStack--;
pxTopOfStack = ( StackType_t * ) pusTopOfStack; *pusTopOfStack = portFLAGS_INT_ENABLED;
pusTopOfStack -= ( sizeof( StackType_t ) / 2 );
/* From here on the size of stacked items depends on the memory model. */
pxTopOfStack = ( StackType_t * ) pusTopOfStack;
/* Next the general purpose registers. */ /* Next the general purpose registers. */
#ifdef PRELOAD_REGISTER_VALUES #ifdef PRELOAD_REGISTER_VALUES
*pxTopOfStack = ( StackType_t ) 0xffff; *pxTopOfStack = ( StackType_t ) 0xffff;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xeeee; *pxTopOfStack = ( StackType_t ) 0xeeee;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xdddd; *pxTopOfStack = ( StackType_t ) 0xdddd;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) pvParameters; *pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xbbbb; *pxTopOfStack = ( StackType_t ) 0xbbbb;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xaaaa; *pxTopOfStack = ( StackType_t ) 0xaaaa;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x9999; *pxTopOfStack = ( StackType_t ) 0x9999;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x8888; *pxTopOfStack = ( StackType_t ) 0x8888;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x5555; *pxTopOfStack = ( StackType_t ) 0x5555;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x6666; *pxTopOfStack = ( StackType_t ) 0x6666;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x5555; *pxTopOfStack = ( StackType_t ) 0x5555;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0x4444; *pxTopOfStack = ( StackType_t ) 0x4444;
pxTopOfStack--; pxTopOfStack--;
#else /* ifdef PRELOAD_REGISTER_VALUES */ #else
pxTopOfStack -= 3; pxTopOfStack -= 3;
*pxTopOfStack = ( StackType_t ) pvParameters; *pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack -= 9; pxTopOfStack -= 9;
#endif /* ifdef PRELOAD_REGISTER_VALUES */ #endif
/* A variable is used to keep track of the critical section nesting. /* A variable is used to keep track of the critical section nesting.
* This variable has to be stored as part of the task context and is This variable has to be stored as part of the task context and is
* initially set to zero. */ initially set to zero. */
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
/* Return a pointer to the top of the stack we have generated so this can /* 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. */ be stored in the task control block for the task. */
return pxTopOfStack; return pxTopOfStack;
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
void vPortEndScheduler( void ) void vPortEndScheduler( void )
{ {
/* It is unlikely that the MSP430 port will get stopped. If required simply /* It is unlikely that the MSP430 port will get stopped. If required simply
* disable the tick interrupt here. */ disable the tick interrupt here. */
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
@ -167,21 +165,23 @@ void vPortEndScheduler( void )
*/ */
void vPortSetupTimerInterrupt( void ) void vPortSetupTimerInterrupt( void )
{ {
vApplicationSetupTimerInterrupt(); vApplicationSetupTimerInterrupt();
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
#pragma vector=configTICK_VECTOR #pragma vector=configTICK_VECTOR
interrupt void vTickISREntry( void ) interrupt void vTickISREntry( void )
{ {
extern void vPortTickISR( void ); extern void vPortTickISR( void );
__bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF ); __bic_SR_register_on_exit( SCG1 + SCG0 + OSCOFF + CPUOFF );
#if configUSE_PREEMPTION == 1 #if configUSE_PREEMPTION == 1
extern void vPortPreemptiveTickISR( void ); extern void vPortPreemptiveTickISR( void );
vPortPreemptiveTickISR(); vPortPreemptiveTickISR();
#else #else
extern void vPortCooperativeTickISR( void ); extern void vPortCooperativeTickISR( void );
vPortCooperativeTickISR(); vPortCooperativeTickISR();
#endif #endif
} }

115
portable/CCS/MSP430X/portmacro.h
View file

@ -42,72 +42,72 @@
#include "msp430.h" #include "msp430.h"
/* Type definitions. */ /* Type definitions. */
#define portCHAR char #define portCHAR char
#define portFLOAT float #define portFLOAT float
#define portDOUBLE double #define portDOUBLE double
#define portLONG long #define portLONG long
#define portSHORT int #define portSHORT int
#define portBASE_TYPE portSHORT #define portBASE_TYPE portSHORT
/* The stack type changes depending on the data model. */ /* The stack type changes depending on the data model. */
#ifdef __LARGE_DATA_MODEL__ #ifdef __LARGE_DATA_MODEL__
#define portSTACK_TYPE uint32_t #define portSTACK_TYPE uint32_t
#else #else
#define portSTACK_TYPE uint16_t #define portSTACK_TYPE uint16_t
#define portPOINTER_SIZE_TYPE uint16_t #define portPOINTER_SIZE_TYPE uint16_t
#endif #endif
typedef portSTACK_TYPE StackType_t; typedef portSTACK_TYPE StackType_t;
typedef short BaseType_t; typedef short BaseType_t;
typedef unsigned short UBaseType_t; typedef unsigned short UBaseType_t;
#if ( configUSE_16_BIT_TICKS == 1 ) #if( configUSE_16_BIT_TICKS == 1 )
typedef uint16_t TickType_t; typedef uint16_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffff #define portMAX_DELAY ( TickType_t ) 0xffff
#else #else
typedef uint32_t TickType_t; typedef uint32_t TickType_t;
#define portMAX_DELAY ( TickType_t ) 0xffffffffUL #define portMAX_DELAY ( TickType_t ) 0xffffffffUL
#endif #endif
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Interrupt control macros. */ /* Interrupt control macros. */
#define portDISABLE_INTERRUPTS() _disable_interrupt(); _nop() #define portDISABLE_INTERRUPTS() _disable_interrupt(); _nop()
#define portENABLE_INTERRUPTS() _enable_interrupt(); _nop() #define portENABLE_INTERRUPTS() _enable_interrupt(); _nop()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Critical section control macros. */ /* Critical section control macros. */
#define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 ) #define portNO_CRITICAL_SECTION_NESTING ( ( uint16_t ) 0 )
#define portENTER_CRITICAL() \ #define portENTER_CRITICAL() \
{ \ { \
extern volatile uint16_t usCriticalNesting; \ extern volatile uint16_t usCriticalNesting; \
\ \
portDISABLE_INTERRUPTS(); \ portDISABLE_INTERRUPTS(); \
\ \
/* Now interrupts are disabled usCriticalNesting can be accessed */ \ /* Now interrupts are disabled usCriticalNesting can be accessed */ \
/* directly. Increment ulCriticalNesting to keep a count of how many */ \ /* directly. Increment ulCriticalNesting to keep a count of how many */ \
/* times portENTER_CRITICAL() has been called. */ \ /* times portENTER_CRITICAL() has been called. */ \
usCriticalNesting++; \ usCriticalNesting++; \
} }
#define portEXIT_CRITICAL() \ #define portEXIT_CRITICAL() \
{ \ { \
extern volatile uint16_t usCriticalNesting; \ extern volatile uint16_t usCriticalNesting; \
\ \
if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \
{ \ { \
/* Decrement the nesting count as we are leaving a critical section. */ \ /* Decrement the nesting count as we are leaving a critical section. */ \
usCriticalNesting--; \ usCriticalNesting--; \
\ \
/* If the nesting level has reached zero then interrupts should be */ \ /* If the nesting level has reached zero then interrupts should be */ \
/* re-enabled. */ \ /* re-enabled. */ \
if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \
{ \ { \
portENABLE_INTERRUPTS(); \ portENABLE_INTERRUPTS(); \
} \ } \
} \ } \
} }
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
@ -116,27 +116,28 @@ typedef unsigned short UBaseType_t;
* Manual context switch called by portYIELD or taskYIELD. * Manual context switch called by portYIELD or taskYIELD.
*/ */
extern void vPortYield( void ); extern void vPortYield( void );
#define portYIELD() vPortYield() #define portYIELD() vPortYield()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardware specifics. */ /* Hardware specifics. */
#define portBYTE_ALIGNMENT 2 #define portBYTE_ALIGNMENT 2
#define portSTACK_GROWTH ( -1 ) #define portSTACK_GROWTH ( -1 )
#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#define portNOP() __no_operation() #define portNOP() __no_operation()
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task function macros as described on the FreeRTOS.org WEB site. */ /* Task function macros as described on the FreeRTOS.org WEB site. */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void * pvParameters ) #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void * pvParameters ) #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
extern void vTaskSwitchContext( void ); extern void vTaskSwitchContext( void );
#define portYIELD_FROM_ISR( x ) if( x ) vPortYield() #define portYIELD_FROM_ISR( x ) if( x ) vPortYield()
void vApplicationSetupTimerInterrupt( void ); void vApplicationSetupTimerInterrupt( void );
/* sizeof( int ) != sizeof( long ) so a full printf() library is required if /* sizeof( int ) != sizeof( long ) so a full printf() library is required if
* run time stats information is to be displayed. */ run time stats information is to be displayed. */
#define portLU_PRINTF_SPECIFIER_REQUIRED #define portLU_PRINTF_SPECIFIER_REQUIRED
#endif /* PORTMACRO_H */ #endif /* PORTMACRO_H */