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Continue 78K0R development.

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Richard Barry 2009-02-03 21:09:16 +00:00
parent 7acae9e570
commit 46425b4099
3 changed files with 64 additions and 75 deletions
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53
Source/portable/IAR/78K0R/port.c
View file

@ -37,13 +37,13 @@
Please ensure to read the configuration and relevant port sections of the Please ensure to read the configuration and relevant port sections of the
online documentation. online documentation.
http://www.FreeRTOS.org - Documentation, latest information, license and http://www.FreeRTOS.org - Documentation, latest information, license and
contact details. contact details.
http://www.SafeRTOS.com - A version that is certified for use in safety http://www.SafeRTOS.com - A version that is certified for use in safety
critical systems. critical systems.
http://www.OpenRTOS.com - Commercial support, development, porting, http://www.OpenRTOS.com - Commercial support, development, porting,
licensing and training services. licensing and training services.
*/ */
@ -67,7 +67,7 @@
* |--------------------- Zero Flag set * |--------------------- Zero Flag set
* ---------------------- Global Interrupt Flag set (enabled) * ---------------------- Global Interrupt Flag set (enabled)
*/ */
#define portPSW (( portSTACK_TYPE ) 0xC600) #define portPSW (0xc6000000UL)
/* 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. */
@ -95,19 +95,19 @@ volatile unsigned portSHORT usCriticalNesting = portINITIAL_CRITICAL_NESTING;
__interrupt void MD_INTTM05( void ); __interrupt void MD_INTTM05( void );
/* /*
* Sets up the periodic ISR used for the RTOS tick. * Sets up the periodic ISR used for the RTOS tick.
*/ */
static void prvSetupTimerInterrupt( void ); static void prvSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Initialise the stack of a task to look exactly as if a call to * Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called. * portSAVE_CONTEXT had been called.
* *
* See the header file portable.h. * See the header file portable.h.
*/ */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{ {
unsigned long *pulLocal; unsigned long *pulLocal;
#if configMEMORY_MODE == 1 #if configMEMORY_MODE == 1
@ -116,30 +116,31 @@ unsigned long *pulLocal;
pxTopOfStack--; pxTopOfStack--;
pulLocal = ( unsigned long * ) pxTopOfStack; pulLocal = ( unsigned long * ) pxTopOfStack;
*pulLocal = ( unsigned long ) pvParameters; *pulLocal = ( unsigned long ) pvParameters;
pxTopOfStack--; pxTopOfStack--;
/* Dummy values on the stack because there normaly the return address /* Dummy values on the stack because there normaly the return address
of the funtion is written. */ of the funtion is written. */
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd; *pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd; *pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
pxTopOfStack--;
pxTopOfStack--;
/* Task function start address. */
pulLocal = ( unsigned long * ) pxTopOfStack;
*pulLocal = ( unsigned long ) pxCode;
pxTopOfStack--; pxTopOfStack--;
/* Initial PSW value. */ /* Initial PSW value. */
*pxTopOfStack = portPSW; // *pxTopOfStack = portPSW;
pxTopOfStack--;
/* Task function start address. */
pulLocal = ( unsigned long * ) pxTopOfStack;
*pulLocal = ( ( ( unsigned long ) pxCode ) | portPSW );
pxTopOfStack--; pxTopOfStack--;
/* Next general purpose register AX. */ /* Next general purpose register AX. */
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111; *pxTopOfStack = ( portSTACK_TYPE ) 0x1111;
pxTopOfStack--; pxTopOfStack--;
} }
#else #else
{ {
pxTopOfStack--; pxTopOfStack--;
@ -156,7 +157,7 @@ unsigned long *pulLocal;
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
pxTopOfStack--; pxTopOfStack--;
} }
#endif #endif
/* HL. */ /* HL. */
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222; *pxTopOfStack = ( portSTACK_TYPE ) 0x2222;
@ -173,7 +174,7 @@ unsigned long *pulLocal;
pxTopOfStack--; pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; *pxTopOfStack = ( portSTACK_TYPE ) 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.
*/ */
@ -203,8 +204,8 @@ void vPortEndScheduler( void )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* /*
* Hardware initialisation to generate the RTOS tick. This uses Channel 5 of * Hardware initialisation to generate the RTOS tick. This uses Channel 5 of
* the Timer Array Unit (TAU). Any other Channel could also be used. * the Timer Array Unit (TAU). Any other Channel could also be used.
*/ */
static void prvSetupTimerInterrupt( void ) static void prvSetupTimerInterrupt( void )
{ {
@ -214,7 +215,7 @@ static void prvSetupTimerInterrupt( void )
/* To configure the Timer Array Unit all Channels have to first be stopped. */ /* To configure the Timer Array Unit all Channels have to first be stopped. */
TT0 = 0xff; TT0 = 0xff;
/* Interrupt of Timer Array Unit Channel 5 is disabled to set the interrupt /* Interrupt of Timer Array Unit Channel 5 is disabled to set the interrupt
priority. */ priority. */
TMMK05 = 1; TMMK05 = 1;

81
Source/portable/IAR/78K0R/portasm.s26
View file

@ -29,7 +29,7 @@
; *************************************************************************** ; ***************************************************************************
; ;
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
; Note: Select the correct include files for the device used by the application. ; Note: Select the correct include files for the device used by the application.
#include "FreeRTOSConfig.h" #include "FreeRTOSConfig.h"
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
@ -47,19 +47,19 @@
PUBLIC vPortStart PUBLIC vPortStart
; Functions used by scheduler ; Functions used by scheduler
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
EXTERN vTaskSwitchContext EXTERN vTaskSwitchContext
EXTERN vTaskIncrementTick EXTERN vTaskIncrementTick
; Variables used by scheduler ; Variables used by scheduler
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
EXTERN pxCurrentTCB EXTERN pxCurrentTCB
EXTERN usCriticalNesting EXTERN usCriticalNesting
; Tick ISR Prototype ; Tick ISR Prototype
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
EXTERN ?CL78K0R_V2_L00 EXTERN ?CL78K0R_V2_L00
PUBWEAK `??MD_INTTM05??INTVEC 68` PUBWEAK `??MD_INTTM05??INTVEC 68`
PUBLIC MD_INTTM05 PUBLIC MD_INTTM05
@ -72,21 +72,22 @@ MD_INTTM05 SYMBOL "MD_INTTM05"
; portSAVE_CONTEXT MACRO ; portSAVE_CONTEXT MACRO
; Saves the context of the remaining general purpose registers, CS and ES ; Saves the context of the remaining general purpose registers, CS and ES
; (only in far memory mode) registers ; (only in far memory mode) registers
; the usCriticalNesting Value and the Stack Pointer ; the usCriticalNesting Value and the Stack Pointer
; of the active Task onto the task stack ; of the active Task onto the task stack
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
portSAVE_CONTEXT MACRO portSAVE_CONTEXT MACRO
PUSH AX ; save AX Register to stack
PUSH HL PUSH HL
#if configMEMORY_MODE == 1 #if configMEMORY_MODE == 1
MOV A, CS ; save CS register MOV A, CS ; save CS register
XCH A, X XCH A, X
MOV A, ES ; save ES register MOV A, ES ; save ES register
PUSH AX PUSH AX
#else #else
MOV A, CS ; save CS register MOV A, CS ; save CS register
PUSH AX PUSH AX
#endif #endif
PUSH DE ; save the remaining general purpose registers PUSH DE ; save the remaining general purpose registers
PUSH BC PUSH BC
MOVW AX, usCriticalNesting ; save the usCriticalNesting value MOVW AX, usCriticalNesting ; save the usCriticalNesting value
@ -102,7 +103,7 @@ portSAVE_CONTEXT MACRO
; portRESTORE_CONTEXT MACRO ; portRESTORE_CONTEXT MACRO
; Restores the context of the Stack Pointer, usCriticalNesting ; Restores the context of the Stack Pointer, usCriticalNesting
; value, general purpose registers and the CS and ES (only in far memory mode) ; value, general purpose registers and the CS and ES (only in far memory mode)
; of the selected task from the task stack ; of the selected task from the task stack
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
portRESTORE_CONTEXT MACRO portRESTORE_CONTEXT MACRO
@ -114,16 +115,17 @@ portRESTORE_CONTEXT MACRO
MOVW usCriticalNesting, AX MOVW usCriticalNesting, AX
POP BC ; restore the necessary general purpose registers POP BC ; restore the necessary general purpose registers
POP DE POP DE
#if configMEMORY_MODE == 1 #if configMEMORY_MODE == 1
POP AX ; restore the ES register POP AX ; restore the ES register
MOV ES, A MOV ES, A
XCH A, X ; restore the CS register XCH A, X ; restore the CS register
MOV CS, A MOV CS, A
#else #else
POP AX POP AX
MOV CS, A ; restore CS register MOV CS, A ; restore CS register
#endif #endif
POP HL ; restore general purpose register HL POP HL ; restore general purpose register HL
POP AX ; restore AX
ENDM ENDM
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
@ -139,16 +141,10 @@ portRESTORE_CONTEXT MACRO
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
RSEG CODE:CODE RSEG CODE:CODE
vPortYield: vPortYield:
PUSH PSW ; save Task PSW (Program Status Word)
DI ; global disable interrupt
PUSH AX
portSAVE_CONTEXT ; Save the context of the current task. portSAVE_CONTEXT ; Save the context of the current task.
CALL vTaskSwitchContext ; Call the scheduler. call vTaskSwitchContext ; Call the scheduler.
portRESTORE_CONTEXT ; Restore the context of whichever task the ... portRESTORE_CONTEXT ; Restore the context of whichever task the ...
POP AX RETB
EI ; (re-)enable global interrupts
POP PSW ; restore active task PSW
RET ; ... scheduler decided should run.
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
@ -164,18 +160,16 @@ vPortYield:
RSEG CODE:CODE RSEG CODE:CODE
vPortStart: vPortStart:
portRESTORE_CONTEXT ; Restore the context of whichever task the ... portRESTORE_CONTEXT ; Restore the context of whichever task the ...
POP AX ; POP PSW ; restore active task PSW
EI ; enable global interrupts reti ; ... scheduler decided should run.
POP PSW ; restore active task PSW
ret ; ... scheduler decided should run.
;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------
; Perform the necessary steps of the Tick Count Increment and Task Switch ; Perform the necessary steps of the Tick Count Increment and Task Switch
; depending on the chosen kernel configuration ; depending on the chosen kernel configuration
; ;
; Input: NONE ; Input: NONE
; ;
; Call: ISR ; Call: ISR
; ;
; Output: NONE ; Output: NONE
; ;
@ -183,27 +177,16 @@ vPortStart:
#if configUSE_PREEMPTION == 1 #if configUSE_PREEMPTION == 1
MD_INTTM05: MD_INTTM05:
PUSH AX ; create temporary dummy area on stack
PUSH AX ; save AX Register to stack
MOVW AX, [SP+6] ; get PSW
MOVW [SP+2], AX ; write PSW into dummy area on the stack
portSAVE_CONTEXT ; Save the context of the current task. portSAVE_CONTEXT ; Save the context of the current task.
call vTaskIncrementTick ; Call the timer tick function. call vTaskIncrementTick ; Call the timer tick function.
call vTaskSwitchContext ; Call the scheduler. call vTaskSwitchContext ; Call the scheduler.
portRESTORE_CONTEXT ; Restore the context of whichever task the ... portRESTORE_CONTEXT ; Restore the context of whichever task the ...
; ... scheduler decided should run. RETI
MOVW AX, [SP+2] ; get PSW from stack
MOVW [SP+6], AX ; write PSW to expected location for reti
POP AX ; restore AX
MOVW [SP+0], AX ; rewrite dummy stack area to expected value
POP AX
RETI
#else #else
MD_INTTM05: MD_INTTM05:
PUSH AX ; save necessary general purpose register... PUSH AX ; save necessary general purpose register...
PUSH HL ; ...used by the ISR PUSH HL ; ...used by the ISR
MOVW AX, CS ; save CS register MOVW AX, CS ; save CS register
PUSH AX PUSH AX
@ -212,7 +195,7 @@ MD_INTTM05:
MOVW CS, AX ; restore CS register MOVW CS, AX ; restore CS register
POP HL ; restore used general purpose registers POP HL ; restore used general purpose registers
POP AX POP AX
RETI RETI
#endif #endif
REQUIRE ?CL78K0R_V2_L00 REQUIRE ?CL78K0R_V2_L00
@ -220,11 +203,17 @@ MD_INTTM05:
ORG 68 ORG 68
`??MD_INTTM05??INTVEC 68`: `??MD_INTTM05??INTVEC 68`:
DW MD_INTTM05 DW MD_INTTM05
; set value for the usCriticalNesting
COMMON INTVEC:CODE:ROOT(1) ; set ISR location to the Interrupt vector table
ORG 126
`??vPortYield??INTVEC 126`:
DW vPortYield
; set value for the usCriticalNesting
RSEG NEAR_ID:CONST:SORT:NOROOT(1) RSEG NEAR_ID:CONST:SORT:NOROOT(1)
`?<Initializer for usCriticalNesting>`: `?<Initializer for usCriticalNesting>`:
DW 10 DW 10
;#endif ;#endif
END END

5
Source/portable/IAR/78K0R/portmacro.h
View file

@ -123,12 +123,11 @@ extern volatile unsigned portSHORT usCriticalNesting; \
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Task utilities. */ /* Task utilities. */
extern void vPortYield( void );
extern void vPortStart( void ); extern void vPortStart( void );
extern void portSAVE_CONTEXT( void ); extern void portSAVE_CONTEXT( void );
extern void portRESTORE_CONTEXT( void ); extern void portRESTORE_CONTEXT( void );
#define portYIELD() vPortYield() #define portYIELD() __asm( "BRK" )
#define portNOP() __asm ( "NOP" ) #define portNOP() __asm( "NOP" )
/*-----------------------------------------------------------*/ /*-----------------------------------------------------------*/
/* Hardwware specifics. */ /* Hardwware specifics. */