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https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-19 21:11:57 -04:00
Still a work in progress. Need to add flop support.
This commit is contained in:
Richard Barry
parent
1aa471d0ec
commit
188a2c0cc1
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@ -1,5 +1,5 @@
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/*
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FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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FreeRTOS V6.0.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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***************************************************************************
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* *
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@ -102,60 +102,84 @@ pxTopOfStack--;
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*pxTopOfStack = portINITIAL_SR;
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pxTopOfStack--;
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/* PC then MACL, MACH. */
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// *pxTopOfStack = ( unsigned long ) pxCode;
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// pxTopOfStack -= 3;
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/* PC. */
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*pxTopOfStack = ( unsigned long ) pxCode;
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pxTopOfStack--;
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*pxTopOfStack = 0xffffUL;
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pxTopOfStack--;
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*pxTopOfStack = 0xeeeeUL;
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/* PR. */
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*pxTopOfStack = 15;
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pxTopOfStack--;
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/* GBR then PR, R14-R5. */
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// *pxTopOfStack = ulPortGetGBR();
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// pxTopOfStack -= 12;
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*pxTopOfStack = 0x00UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x11UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x22UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x33UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x44UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x55UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x66UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x77UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x88UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x99UL;
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pxTopOfStack--;
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*pxTopOfStack = 0xaaUL;
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pxTopOfStack--;
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*pxTopOfStack = 0xbbUL;
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/* 14. */
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*pxTopOfStack = 14;
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pxTopOfStack--;
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/* R13. */
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*pxTopOfStack = 13;
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pxTopOfStack--;
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/* Parameters in R4 then R3-R0. */
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// *pxTopOfStack = ( unsigned long ) pvParameters;
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// pxTopOfStack -= 5;
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/* R12. */
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*pxTopOfStack = 12;
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pxTopOfStack--;
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*pxTopOfStack = 0x1UL;
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/* R11. */
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*pxTopOfStack = 11;
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pxTopOfStack--;
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*pxTopOfStack = 0x2UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x3UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x4UL;
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pxTopOfStack--;
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*pxTopOfStack = 0x5UL;
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//pxTopOfStack--;
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/* R10. */
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*pxTopOfStack = 10;
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pxTopOfStack--;
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/* R9. */
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*pxTopOfStack = 9;
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pxTopOfStack--;
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/* R8. */
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*pxTopOfStack = 8;
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pxTopOfStack--;
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/* R7. */
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*pxTopOfStack = 7;
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pxTopOfStack--;
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/* R6. */
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*pxTopOfStack = 6;
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pxTopOfStack--;
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/* R5. */
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*pxTopOfStack = 5;
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pxTopOfStack--;
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/* R4. */
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*pxTopOfStack = ( unsigned long ) pvParameters;
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pxTopOfStack--;
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/* R3. */
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*pxTopOfStack = 3;
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pxTopOfStack--;
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/* R2. */
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*pxTopOfStack = 2;
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pxTopOfStack--;
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/* R1. */
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*pxTopOfStack = 1;
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pxTopOfStack--;
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/* R0 */
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*pxTopOfStack = 0;
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pxTopOfStack--;
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/* MACL. */
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*pxTopOfStack = 16;
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pxTopOfStack--;
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/* MACH. */
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*pxTopOfStack = 17;
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pxTopOfStack--;
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/* GBR. */
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*pxTopOfStack = ulPortGetGBR();
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/* GBR = global base register.
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VBR = vector base register.
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@ -169,7 +193,7 @@ pxTopOfStack--;
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Start the tick interrupt. */
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// prvSetupTimerInterrupt();
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prvSetupTimerInterrupt();
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/* Start the first task. */
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trapa( 32 );
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@ -207,3 +231,6 @@ extern void vApplicationSetupTimerInterrupt( void );
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@ -1,5 +1,5 @@
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;/*
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; FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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; FreeRTOS V6.0.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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;
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; ***************************************************************************
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; * *
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@ -53,43 +53,25 @@
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.import _pxCurrentTCB
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.import _vTaskSwitchContext
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.import _vTaskIncrementTick
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.export _vPortStartFirstTask
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.export _ulPortGetGBR
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.export _vPortYield
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.export _vPortPreemptiveTick
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.export _vPortCooperativeTick
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.section P
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_vPortStartFirstTask:
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.macro portSAVE_CONTEXT
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; Get the address of the pxCurrentTCB variable.
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mov.l #_pxCurrentTCB, r15
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; Save r0 to r14 and pr.
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movml.l r15, @-r15
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; Get the address of the task stack from pxCurrentTCB.
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mov.l @r15, r15
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; Get the task stack itself into the stack pointer.
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mov.l @r15, r15
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; Restore r0 to PR (PR is used in place of r15).
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movml.l @r15+, r15
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; Restore system registers.
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ldc.l @r15+, gbr
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lds.l @r15+, mach
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lds.l @r15+, macl
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; Pop the SR and PC to jump to the start of the task.
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rte
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nop
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_vPortYield:
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; Save registers in the same order used by the CPU itself.
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; Save mac1, mach and gbr
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sts.l macl, @-r15
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sts.l mach, @-r15
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stc.l gbr, @-r15
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movml.l r15, @-r15
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; Get the address of pxCurrentTCB
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mov.l #_pxCurrentTCB, r0
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@ -100,31 +82,93 @@ _vPortYield:
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; Save the stack pointer in pxTopOfStack.
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mov.l r15, @r0
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mov.l #_vTaskSwitchContext, r0
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jsr @r0
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nop
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.endm
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;-----------------------------------------------------------
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.macro portRESTORE_CONTEXT
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; Get the address of the pxCurrentTCB variable.
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mov.l #_pxCurrentTCB, r15
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mov.l #_pxCurrentTCB, r0
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; Get the address of the task stack from pxCurrentTCB.
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mov.l @r15, r15
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mov.l @r0, r0
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; Get the task stack itself into the stack pointer.
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mov.l @r15, r15
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; Restore r0 to PR (PR is used in place of r15).
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movml.l @r15+, r15
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mov.l @r0, r15
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; Restore system registers.
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ldc.l @r15+, gbr
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lds.l @r15+, mach
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lds.l @r15+, macl
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; Restore r0 to r14 and PR
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movml.l @r15+, r15
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; Pop the SR and PC to jump to the start of the task.
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rte
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nop
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.endm
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;-----------------------------------------------------------
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_vPortStartFirstTask:
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portRESTORE_CONTEXT
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;-----------------------------------------------------------
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_vPortYield:
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; Push r0 so it can be used.
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mov.l r0, @-r15
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; Set the interrupt mask in the status register.
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stc sr, r0
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or #240,r0
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ldc r0, sr
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; Restore r0 so its original value can be saved by the movml.l instruction
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; below, without ending up with two copies on the stack.
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mov.l @r15+, r0
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portSAVE_CONTEXT
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mov.l #_vTaskSwitchContext, r0
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jsr @r0
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nop
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portRESTORE_CONTEXT
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;-----------------------------------------------------------
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_vPortPreemptiveTick
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portSAVE_CONTEXT
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mov.l #_vTaskIncrementTick, r0
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jsr @r0
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nop
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mov.l #_vTaskSwitchContext, r0
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jsr @r0
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nop
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portRESTORE_CONTEXT
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;-----------------------------------------------------------
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_vPortCooperativeTick
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portSAVE_CONTEXT
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mov.l #_vTaskIncrementTick, r0
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jsr @r0
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nop
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portRESTORE_CONTEXT
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;-----------------------------------------------------------
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_ulPortGetGBR:
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@ -1,5 +1,5 @@
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/*
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FreeRTOS V6.0.1 - Copyright (C) 2009 Real Time Engineers Ltd.
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FreeRTOS V6.0.2 - Copyright (C) 2009 Real Time Engineers Ltd.
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***************************************************************************
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* *
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@ -98,7 +98,7 @@ extern "C" {
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/*-----------------------------------------------------------*/
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#define portENABLE_INTERRUPTS() set_imask( 0x00 )
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#define portDISABLE_INTERRUPTS() set_imask( 0x0F )
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#define portDISABLE_INTERRUPTS() set_imask( configMAX_SYSCALL_INTERRUPT_PRIORITY )
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/* Critical section handling. */
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#define portCRITICAL_NESTING_IN_TCB ( 1 )
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@ -106,6 +106,7 @@ extern void vTaskEnterCritical( void );
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extern void vTaskExitCritical( void );
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#define portENTER_CRITICAL() vTaskEnterCritical();
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#define portEXIT_CRITICAL() vTaskExitCritical();
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/*-----------------------------------------------------------*/
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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