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Add PIC24, dsPIC and Coldfire files.

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This commit is contained in:
Richard Barry 2006-10-09 11:40:24 +00:00
parent 5561c55286
commit 3878b82c9b
218 changed files with 54714 additions and 0 deletions
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263
Source/portable/GCC/MCF5235/port.c Normal file
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/*
FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry.
MCF5235 Port - Copyright (C) 2006 Christian Walter.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
#include <stdlib.h>
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
/* ------------------------ Types ----------------------------------------- */
typedef volatile unsigned long vuint32;
typedef volatile unsigned short vuint16;
typedef volatile unsigned char vuint8;
/* ------------------------ Defines --------------------------------------- */
#define portVECTOR_TABLE __RAMVEC
#define portVECTOR_SYSCALL ( 32 + portTRAP_YIELD )
#define portVECTOR_TIMER ( 64 + 36 )
#define MCF_PIT_PRESCALER 512UL
#define MCF_PIT_TIMER_TICKS ( FSYS_2 / MCF_PIT_PRESCALER )
#define MCF_PIT_MODULUS_REGISTER(freq) ( MCF_PIT_TIMER_TICKS / ( freq ) - 1UL)
#define MCF_PIT_PMR0 ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150002 ] ) )
#define MCF_PIT_PCSR0 ( *( vuint16 * )( void * )( &__IPSBAR[ 0x150000 ] ) )
#define MCF_PIT_PCSR_PRE(x) ( ( ( x ) & 0x000F ) << 8 )
#define MCF_PIT_PCSR_EN ( 0x0001 )
#define MCF_PIT_PCSR_RLD ( 0x0002 )
#define MCF_PIT_PCSR_PIF ( 0x0004 )
#define MCF_PIT_PCSR_PIE ( 0x0008 )
#define MCF_PIT_PCSR_OVW ( 0x0010 )
#define MCF_INTC0_ICR36 ( *( vuint8 * )( void * )( &__IPSBAR[ 0x000C64 ] ) )
#define MCF_INTC0_IMRH ( *( vuint32 * )( void * )( &__IPSBAR[ 0x000C08 ] ) )
#define MCF_INTC0_IMRH_INT_MASK36 ( 0x00000010 )
#define MCF_INTC0_IMRH_MASKALL ( 0x00000001 )
#define MCF_INTC0_ICRn_IP(x) ( ( ( x ) & 0x07 ) << 0 )
#define MCF_INTC0_ICRn_IL(x) ( ( ( x ) & 0x07 ) << 3 )
#define portNO_CRITICAL_NESTING ( ( unsigned portLONG ) 0 )
#define portINITIAL_CRITICAL_NESTING ( ( unsigned portLONG ) 10 )
/* ------------------------ Static variables ------------------------------ */
volatile unsigned portLONG ulCriticalNesting = portINITIAL_CRITICAL_NESTING;
/* ------------------------ Static functions ------------------------------ */
#if configUSE_PREEMPTION == 0
static void prvPortPreemptiveTick ( void ) __attribute__ ((interrupt_handler));
#else
static void prvPortPreemptiveTick ( void );
#endif
/* ------------------------ Start implementation -------------------------- */
portSTACK_TYPE *
pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode,
void *pvParameters )
{
/* Place the parameter on the stack in the expected location. */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
pxTopOfStack--;
/* Place dummy return address on stack. Tasks should never terminate so
* we can set this to anything. */
*pxTopOfStack = ( portSTACK_TYPE ) 0;
pxTopOfStack--;
/* Create a Motorola Coldfire exception stack frame. First comes the return
* address. */
*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
pxTopOfStack--;
/* Format, fault-status, vector number for exception stack frame. Task
* run in supervisor mode. */
*pxTopOfStack = 0x40002000UL | ( portVECTOR_SYSCALL + 32 ) << 18;
pxTopOfStack--;
/* Set the initial critical section nesting counter to zero. This value
* is used to restore the value of ulCriticalNesting. */
*pxTopOfStack = 0;
*pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA6; /* A6 / FP */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA5; /* A5 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA4; /* A4 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA3; /* A3 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA2; /* A2 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA1; /* A1 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xA0; /* A0 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD7; /* D7 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD6; /* D6 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD5; /* D5 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD4; /* D4 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD3; /* D3 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD2; /* D2 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD1; /* D1 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xD0; /* D0 */
return pxTopOfStack;
}
/*
* Called by portYIELD() or taskYIELD() to manually force a context switch.
*/
static void
prvPortYield( void )
{
asm volatile ( "move.w #0x2700, %sr\n\t" );
#if _GCC_USES_FP == 1
asm volatile ( "unlk %fp\n\t" );
#endif
/* Perform the context switch. First save the context of the current task. */
portSAVE_CONTEXT( );
/* Find the highest priority task that is ready to run. */
vTaskSwitchContext( );
/* Restore the context of the new task. */
portRESTORE_CONTEXT( );
}
#if configUSE_PREEMPTION == 0
/*
* The ISR used for the scheduler tick depends on whether the cooperative or
* the preemptive scheduler is being used.
*/
static void
prvPortPreemptiveTick ( void )
{
/* The cooperative scheduler requires a normal IRQ service routine to
* simply increment the system tick.
*/
vTaskIncrementTick( );
MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF;
}
#else
static void
prvPortPreemptiveTick( void )
{
asm volatile ( "move.w #0x2700, %sr\n\t" );
#if _GCC_USES_FP == 1
asm volatile ( "unlk %fp\n\t" );
#endif
portSAVE_CONTEXT( );
MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIF;
vTaskIncrementTick( );
vTaskSwitchContext( );
portRESTORE_CONTEXT( );
}
#endif
void
vPortEnterCritical()
{
/* FIXME: We should store the old IPL here - How are we supposed to do
* this.
*/
( void )portSET_IPL( portIPL_MAX );
/* Now interrupts are disabled ulCriticalNesting can be accessed
* directly. Increment ulCriticalNesting to keep a count of how many times
* portENTER_CRITICAL() has been called. */
ulCriticalNesting++;
}
void
vPortExitCritical()
{
if( ulCriticalNesting > portNO_CRITICAL_NESTING )
{
/* Decrement the nesting count as we are leaving a critical section. */
ulCriticalNesting--;
/* If the nesting level has reached zero then interrupts should be
re-enabled. */
if( ulCriticalNesting == portNO_CRITICAL_NESTING )
{
( void )portSET_IPL( 0 );
}
}
}
portBASE_TYPE
xPortStartScheduler( void )
{
extern void ( *portVECTOR_TABLE[ ] ) ( );
/* Add entry in vector table for yield system call. */
portVECTOR_TABLE[ portVECTOR_SYSCALL ] = prvPortYield;
/* Add entry in vector table for periodic timer. */
portVECTOR_TABLE[ portVECTOR_TIMER ] = prvPortPreemptiveTick;
/* Configure the timer for the system clock. */
if ( configTICK_RATE_HZ > 0)
{
/* Configure prescaler */
MCF_PIT_PCSR0 = MCF_PIT_PCSR_PRE( 0x9 ) | MCF_PIT_PCSR_RLD | MCF_PIT_PCSR_OVW;
/* Initialize the periodic timer interrupt. */
MCF_PIT_PMR0 = MCF_PIT_MODULUS_REGISTER( configTICK_RATE_HZ );
/* Configure interrupt priority and level and unmask interrupt. */
MCF_INTC0_ICR36 = MCF_INTC0_ICRn_IL( 0x1 ) | MCF_INTC0_ICRn_IP( 0x1 );
MCF_INTC0_IMRH &= ~( MCF_INTC0_IMRH_INT_MASK36 | MCF_INTC0_IMRH_MASKALL );
/* Enable interrupts */
MCF_PIT_PCSR0 |= MCF_PIT_PCSR_PIE | MCF_PIT_PCSR_EN | MCF_PIT_PCSR_PIF;
}
/* Restore the context of the first task that is going to run. */
portRESTORE_CONTEXT( );
/* Should not get here. */
return pdTRUE;
}
void
vPortEndScheduler( void )
{
}

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/*
FreeRTOS V4.1.1 - Copyright (C) 2003-2006 Richard Barry.
MCF5235 Port - Copyright (C) 2006 Christian Walter.
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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with FreeRTOS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
/* ------------------------ Data types for Coldfire ----------------------- */
#define portCHAR char
#define portFLOAT float
#define portDOUBLE double
#define portLONG long
#define portSHORT short
#define portSTACK_TYPE unsigned int
#define portBASE_TYPE int
#if( USE_16_BIT_TICKS == 1 )
typedef unsigned portSHORT portTickType;
#define portMAX_DELAY ( portTickType ) 0xffff
#else
typedef unsigned portLONG portTickType;
#define portMAX_DELAY ( portTickType ) 0xffffffff
#endif
/* ------------------------ Architecture specifics ------------------------ */
#define portSTACK_GROWTH ( -1 )
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portBYTE_ALIGNMENT 4
#define portTRAP_YIELD 0 /* Trap 0 */
#define portIPL_MAX 7 /* Only NMI interrupt 7 allowed. */
/* ------------------------ FreeRTOS macros for port ---------------------- */
/*
* This function must be called when the current state of the active task
* should be stored. It must be called immediately after exception
* processing from the CPU, i.e. there exists a Coldfire exception frame at
* the current position in the stack. The function reserves space on
* the stack for the CPU registers and other task dependent values (e.g
* ulCriticalNesting) and updates the top of the stack in the TCB.
*/
#define portSAVE_CONTEXT() \
asm volatile ( /* reserve space for task state. */ \
"lea.l (-64, %sp), %sp\n\t" \
/* push data register %d0-%d7/%a0-%a6 on stack. */ \
"movem.l %d0-%d7/%a0-%a6, (%sp)\n\t" \
/* push ulCriticalNesting counter on stack. */ \
"lea.l (60, %sp), %a0\n\t" \
"move.l ulCriticalNesting, (%a0)\n\t" \
/* set the new top of the stack in the TCB. */ \
"move.l pxCurrentTCB, %a0\n\t" \
"move.l %sp, (%a0)");
/*.
* This function restores the current active and continues its execution.
* It loads the current TCB and restores the processor registers, the
* task dependent values (e.g ulCriticalNesting). Finally execution
* is continued by executing an rte instruction.
*/
#define portRESTORE_CONTEXT() \
asm volatile ( "move.l pxCurrentTCB, %sp\n\t" \
"move.l (%sp), %sp\n\t" \
/* stack pointer now points to the saved registers. */ \
"movem.l (%sp), %d0-%d7/%a0-%a6\n\t" \
/* restore ulCriticalNesting counter from stack. */ \
"lea.l (%sp, 60), %sp\n\t" \
"move.l (%sp)+, ulCriticalNesting\n\t" \
/* stack pointer now points to exception frame. */ \
"rte\n\t" );
#define portENTER_CRITICAL() \
vPortEnterCritical();
#define portEXIT_CRITICAL() \
vPortExitCritical();
#define portSET_IPL( xIPL ) \
asm_set_ipl( xIPL )
#define portDISABLE_INTERRUPTS() \
do { ( void )portSET_IPL( portIPL_MAX ); } while( 0 )
#define portENABLE_INTERRUPTS() \
do { ( void )portSET_IPL( 0 ); } while( 0 )
#define portYIELD() \
asm volatile ( " trap %0\n\t" : : "i"(portTRAP_YIELD) )
#define portNOP() \
asm volatile ( "nop\n\t" )
#define portENTER_SWITCHING_ISR() \
asm volatile ( "move.w #0x2700, %sr" ); \
/* Save the context of the interrupted task. */ \
portSAVE_CONTEXT( ); \
{
#define portEXIT_SWITCHING_ISR( SwitchRequired ) \
/* If a switch is required we call vTaskSwitchContext(). */ \
if( SwitchRequired ) \
{ \
vTaskSwitchContext( ); \
} \
} \
portRESTORE_CONTEXT( );
/* ------------------------ Function prototypes --------------------------- */
void vPortEnterCritical( void );
void vPortExitCritical( void );
int asm_set_ipl( unsigned long int uiNewIPL );
/* ------------------------ Compiler specifics ---------------------------- */
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) \
void vFunction( void *pvParameters )
#define portTASK_FUNCTION( vFunction, pvParameters ) \
void vFunction( void *pvParameters )
#endif

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Source/portable/MPLAB/PIC24_dsPIC/port.c Normal file
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/*
FreeRTOS.org V4.1.0 - Copyright (C) 2003-2006 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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the PIC24 port.
*----------------------------------------------------------*/
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
/* Hardware specifics. */
#define portBIT_SET 1
#define portTIMER_PRESCALE 8
#define portINITIAL_SR 0
/* The program counter is only 23 bits. */
#define portUNUSED_PR_BITS 0x7f
/* Records the nesting depth of calls to portENTER_CRITICAL(). */
unsigned portBASE_TYPE uxCriticalNesting = 0xef;
#ifdef MPLAB_PIC24_PORT
#define portRESTORE_CONTEXT() \
asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
"MOV [W0], W15 \n" \
"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
"MOV W0, _uxCriticalNesting \n" \
"POP PSVPAG \n" \
"POP CORCON \n" \
"POP TBLPAG \n" \
"POP RCOUNT \n" /* Restore the registers from the stack. */ \
"POP W14 \n" \
"POP.D W12 \n" \
"POP.D W10 \n" \
"POP.D W8 \n" \
"POP.D W6 \n" \
"POP.D W4 \n" \
"POP.D W2 \n" \
"POP.D W0 \n" \
"POP SR " );
#define portSAVE_CONTEXT() \
asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \
"PUSH W0 \n" /* ....then disable interrupts. */ \
"MOV #224, W0 \n" \
"MOV W0, SR \n" \
"PUSH W1 \n" /* Save registers to the stack. */ \
"PUSH.D W2 \n" \
"PUSH.D W4 \n" \
"PUSH.D W6 \n" \
"PUSH.D W8 \n" \
"PUSH.D W10 \n" \
"PUSH.D W12 \n" \
"PUSH W14 \n" \
"PUSH RCOUNT \n" \
"PUSH TBLPAG \n" \
"PUSH CORCON \n" \
"PUSH PSVPAG \n" \
"MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \
"PUSH W0 \n" \
"MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \
"MOV W15, [W0] ");
#endif /* MPLAB_PIC24_PORT */
#ifdef MPLAB_DSPIC_PORT
#define portRESTORE_CONTEXT() \
asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
"MOV [W0], W15 \n" \
"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
"MOV W0, _uxCriticalNesting \n" \
"POP PSVPAG \n" \
"POP CORCON \n" \
"POP DOENDH \n" \
"POP DOENDL \n" \
"POP DOSTARTH \n" \
"POP DOSTARTL \n" \
"POP DCOUNT \n" \
"POP ACCBU \n" \
"POP ACCBH \n" \
"POP ACCBL \n" \
"POP ACCAU \n" \
"POP ACCAH \n" \
"POP ACCAL \n" \
"POP TBLPAG \n" \
"POP RCOUNT \n" /* Restore the registers from the stack. */ \
"POP W14 \n" \
"POP.D W12 \n" \
"POP.D W10 \n" \
"POP.D W8 \n" \
"POP.D W6 \n" \
"POP.D W4 \n" \
"POP.D W2 \n" \
"POP.D W0 \n" \
"POP SR " );
#define portSAVE_CONTEXT() \
asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \
"PUSH W0 \n" /* ....then disable interrupts. */ \
"MOV #224, W0 \n" \
"MOV W0, SR \n" \
"PUSH W1 \n" /* Save registers to the stack. */ \
"PUSH.D W2 \n" \
"PUSH.D W4 \n" \
"PUSH.D W6 \n" \
"PUSH.D W8 \n" \
"PUSH.D W10 \n" \
"PUSH.D W12 \n" \
"PUSH W14 \n" \
"PUSH RCOUNT \n" \
"PUSH TBLPAG \n" \
"PUSH ACCAL \n" \
"PUSH ACCAH \n" \
"PUSH ACCAU \n" \
"PUSH ACCBL \n" \
"PUSH ACCBH \n" \
"PUSH ACCBU \n" \
"PUSH DCOUNT \n" \
"PUSH DOSTARTL \n" \
"PUSH DOSTARTH \n" \
"PUSH DOENDL \n" \
"PUSH DOENDH \n" \
"PUSH CORCON \n" \
"PUSH PSVPAG \n" \
"MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \
"PUSH W0 \n" \
"MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \
"MOV W15, [W0] " );
#endif /* MPLAB_DSPIC_PORT */
/*
* Setup the timer used to generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
/*
* See header file for description.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
unsigned portSHORT usCode;
portBASE_TYPE i;
const portSTACK_TYPE xInitialStack[] =
{
0x1111, /* W1 */
0x2222, /* W2 */
0x3333, /* W3 */
0x4444, /* W4 */
0x5555, /* W5 */
0x6666, /* W6 */
0x7777, /* W7 */
0x8888, /* W8 */
0x9999, /* W9 */
0xaaaa, /* W10 */
0xbbbb, /* W11 */
0xcccc, /* W12 */
0xdddd, /* W13 */
0xeeee, /* W14 */
0xcdce, /* RCOUNT */
0xabac, /* TBLPAG */
/* dsPIC specific registers. */
#ifdef MPLAB_DSPIC_PORT
0x0202, /* ACCAL */
0x0303, /* ACCAH */
0x0404, /* ACCAU */
0x0505, /* ACCBL */
0x0606, /* ACCBH */
0x0707, /* ACCBU */
0x0808, /* DCOUNT */
0x090a, /* DOSTARTL */
0x1010, /* DOSTARTH */
0x1110, /* DOENDL */
0x1212, /* DOENDH */
#endif
};
/* Setup the stack as if a yield had occurred.
Save the low bytes of the program counter. */
usCode = ( unsigned portSHORT ) pxCode;
*pxTopOfStack = ( portSTACK_TYPE ) usCode;
pxTopOfStack++;
/* Save the high byte of the program counter. This will always be zero
here as it is passed in a 16bit pointer. If the address is greater than
16 bits then the pointer will point to a jump table. */
*pxTopOfStack = ( portSTACK_TYPE ) 0;
pxTopOfStack++;
/* Status register with interrupts enabled. */
*pxTopOfStack = portINITIAL_SR;
pxTopOfStack++;
/* Parameters are passed in W0. */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
pxTopOfStack++;
for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ )
{
*pxTopOfStack = xInitialStack[ i ];
pxTopOfStack++;
}
*pxTopOfStack = CORCON;
pxTopOfStack++;
*pxTopOfStack = PSVPAG;
pxTopOfStack++;
/* Finally the critical nesting depth. */
*pxTopOfStack = 0x00;
pxTopOfStack++;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
portBASE_TYPE xPortStartScheduler( void )
{
/* Setup a timer for the tick ISR. */
prvSetupTimerInterrupt();
/* Restore the context of the first task to run. */
portRESTORE_CONTEXT();
/* Simulate the end of the yield function. */
asm volatile ( "return" );
/* Should not reach here. */
return pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* It is unlikely that the scheduler for the PIC port will get stopped
once running. If required disable the tick interrupt here, then return
to xPortStartScheduler(). */
}
/*-----------------------------------------------------------*/
/*
* Manual context switch. This is similar to the tick context switch,
* but does not increment the tick count. It must be identical to the
* tick context switch in how it stores the stack of a task.
*/
void vPortYield( void )
{
portSAVE_CONTEXT();
vTaskSwitchContext();
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
/*
* Setup a timer for a regular tick.
*/
static void prvSetupTimerInterrupt( void )
{
const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ;
/* Prescale of 8. */
T1CON = 0;
TMR1 = 0;
PR1 = ( unsigned portSHORT ) ulCompareMatch;
/* Setup timer 1 interrupt priority. */
IPC0bits.T1IP = portKERNEL_INTERRUPT_PRIORITY;
/* Clear the interrupt as a starting condition. */
IFS0bits.T1IF = 0;
/* Enable the interrupt. */
IEC0bits.T1IE = 1;
/* Setup the prescale value. */
T1CONbits.TCKPS0 = 1;
T1CONbits.TCKPS1 = 0;
/* Start the timer. */
T1CONbits.TON = 1;
}
/*-----------------------------------------------------------*/
void vPortEnterCritical( void )
{
portDISABLE_INTERRUPTS();
uxCriticalNesting++;
}
/*-----------------------------------------------------------*/
void vPortExitCritical( void )
{
uxCriticalNesting--;
if( uxCriticalNesting == 0 )
{
portENABLE_INTERRUPTS();
}
}
/*-----------------------------------------------------------*/
void __attribute__((__interrupt__)) _T1Interrupt( void )
{
vTaskIncrementTick();
/* Clear the timer interrupt. */
IFS0bits.T1IF = 0;
#if configUSE_PREEMPTION == 1
portYIELD();
#endif
}

101
Source/portable/MPLAB/PIC24_dsPIC/portmacro.h Normal file
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/*
FreeRTOS.org V4.1.0 - Copyright (C) 2003-2006 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 as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
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
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes FreeRTOS.org, without being obliged to provide
the source code for any proprietary components. See the licensing section
of http://www.FreeRTOS.org for full details of how and when the exception
can be applied.
***************************************************************************
See http://www.FreeRTOS.org for documentation, latest information, license
and contact details. Please ensure to read the configuration and relevant
port sections of the online documentation.
***************************************************************************
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
/*-----------------------------------------------------------
* 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 short
#define portBASE_TYPE short
#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
/*-----------------------------------------------------------*/
/* Hardware specifics. */
#define portBYTE_ALIGNMENT 2
#define portSTACK_GROWTH 1
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
#define portKERNEL_INTERRUPT_PRIORITY 0x01
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portINTERRUPT_BITS ( 0x00e0 )
#define portDISABLE_INTERRUPTS() SR |= portINTERRUPT_BITS
#define portENABLE_INTERRUPTS() SR &= ~portINTERRUPT_BITS
/* Note that exiting a critical sectino will set the IPL bits to 0, nomatter
what their value was prior to entering the critical section. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
/*-----------------------------------------------------------*/
/* Task utilities. */
extern void vPortYield( void );
#define portYIELD() asm volatile ( "CALL _vPortYield \n" \
"NOP " );
/*-----------------------------------------------------------*/
/* 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 )
/*-----------------------------------------------------------*/
/* Compiler specifics. */
#define inline
#define portNOP() asm volatile ( "NOP" )
#endif /* PORTMACRO_H */