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Richard Barry
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253
20080212/Source/portable/CodeWarrior/HCS12/port.c
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253
20080212/Source/portable/CodeWarrior/HCS12/port.c
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/*
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FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation; either version 2 of the License, or
|
||||
(at your option) any later version.
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||||
|
||||
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
|
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GNU General Public License for more details.
|
||||
|
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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
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A special exception to the GPL can be applied should you wish to distribute
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||||
a combined work that includes FreeRTOS.org, without being obliged to provide
|
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the source code for any proprietary components. See the licensing section
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||||
of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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+++ http://www.OpenRTOS.com +++
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Commercial support, development, porting, licensing and training services.
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***************************************************************************
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*/
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the HCS12 port.
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*----------------------------------------------------------*/
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/*
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* Configure a timer to generate the RTOS tick at the frequency specified
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* within FreeRTOSConfig.h.
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*/
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static void prvSetupTimerInterrupt( void );
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/* Interrupt service routines have to be in non-banked memory - as does the
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scheduler startup function. */
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#pragma CODE_SEG __NEAR_SEG NON_BANKED
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/* Manual context switch function. This is the SWI ISR. */
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void interrupt vPortYield( void );
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/* Tick context switch function. This is the timer ISR. */
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void interrupt vPortTickInterrupt( void );
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/* Simply called by xPortStartScheduler(). xPortStartScheduler() does not
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start the scheduler directly because the header file containing the
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xPortStartScheduler() prototype is part of the common kernel code, and
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therefore cannot use the CODE_SEG pragma. */
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static portBASE_TYPE xBankedStartScheduler( void );
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#pragma CODE_SEG DEFAULT
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/* Calls to portENTER_CRITICAL() can be nested. When they are nested the
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critical section should not be left (i.e. interrupts should not be re-enabled)
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until the nesting depth reaches 0. This variable simply tracks the nesting
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depth. Each task maintains it's own critical nesting depth variable so
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uxCriticalNesting is saved and restored from the task stack during a context
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switch. */
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volatile unsigned portBASE_TYPE uxCriticalNesting = 0xff;
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/*-----------------------------------------------------------*/
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/*
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* See header file for description.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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/*
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Place a few bytes of known values on the bottom of the stack.
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This can be uncommented to provide useful stack markers when debugging.
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*pxTopOfStack = ( portSTACK_TYPE ) 0x11;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x22;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x33;
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pxTopOfStack--;
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*/
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/* Setup the initial stack of the task. The stack is set exactly as
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expected by the portRESTORE_CONTEXT() macro. In this case the stack as
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expected by the HCS12 RTI instruction. */
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/* The address of the task function is placed in the stack byte at a time. */
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*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 1 );
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 0 );
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pxTopOfStack--;
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/* Next are all the registers that form part of the task context. */
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/* Y register */
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*pxTopOfStack = ( portSTACK_TYPE ) 0xff;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xee;
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pxTopOfStack--;
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/* X register */
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*pxTopOfStack = ( portSTACK_TYPE ) 0xdd;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0xcc;
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pxTopOfStack--;
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/* A register contains parameter high byte. */
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*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 0 );
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pxTopOfStack--;
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/* B register contains parameter low byte. */
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*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 1 );
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pxTopOfStack--;
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/* CCR: Note that when the task starts interrupts will be enabled since
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"I" bit of CCR is cleared */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
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pxTopOfStack--;
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#ifdef BANKED_MODEL
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/* The page of the task. */
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*pxTopOfStack = ( portSTACK_TYPE ) ( ( int ) pxCode );
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pxTopOfStack--;
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#endif
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/* Finally the critical nesting depth is initialised with 0 (not within
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a critical section). */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the HCS12 port will get stopped. */
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}
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/*-----------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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TickTimer_SetFreqHz( configTICK_RATE_HZ );
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TickTimer_Enable();
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* xPortStartScheduler() does not start the scheduler directly because
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the header file containing the xPortStartScheduler() prototype is part
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of the common kernel code, and therefore cannot use the CODE_SEG pragma.
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Instead it simply calls the locally defined xBankedStartScheduler() -
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which does use the CODE_SEG pragma. */
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return xBankedStartScheduler();
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}
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/*-----------------------------------------------------------*/
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#pragma CODE_SEG __NEAR_SEG NON_BANKED
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static portBASE_TYPE xBankedStartScheduler( void )
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{
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/* Configure the timer that will generate the RTOS tick. Interrupts are
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disabled when this function is called. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task. */
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portRESTORE_CONTEXT();
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/* Simulate the end of an interrupt to start the scheduler off. */
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__asm( "rti" );
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/* Should not get here! */
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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/*
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* Context switch functions. These are both interrupt service routines.
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*/
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/*
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* Manual context switch forced by calling portYIELD(). This is the SWI
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* handler.
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*/
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void interrupt vPortYield( void )
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{
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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}
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/*-----------------------------------------------------------*/
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/*
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* RTOS tick interrupt service routine. If the cooperative scheduler is
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* being used then this simply increments the tick count. If the
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* preemptive scheduler is being used a context switch can occur.
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*/
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void interrupt vPortTickInterrupt( void )
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{
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#if configUSE_PREEMPTION == 1
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{
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/* A context switch might happen so save the context. */
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portSAVE_CONTEXT();
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/* Increment the tick ... */
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vTaskIncrementTick();
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/* ... then see if the new tick value has necessitated a
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context switch. */
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vTaskSwitchContext();
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TFLG1 = 1;
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/* Restore the context of a task - which may be a different task
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to that interrupted. */
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portRESTORE_CONTEXT();
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}
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#else
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{
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vTaskIncrementTick();
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TFLG1 = 1;
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}
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#endif
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}
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#pragma CODE_SEG DEFAULT
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215
20080212/Source/portable/CodeWarrior/HCS12/portmacro.h
Normal file
215
20080212/Source/portable/CodeWarrior/HCS12/portmacro.h
Normal file
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@ -0,0 +1,215 @@
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/*
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FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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|
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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.
|
||||
|
||||
***************************************************************************
|
||||
|
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Please ensure to read the configuration and relevant port sections of the
|
||||
online documentation.
|
||||
|
||||
+++ http://www.FreeRTOS.org +++
|
||||
Documentation, latest information, license and contact details.
|
||||
|
||||
+++ http://www.SafeRTOS.com +++
|
||||
A version that is certified for use in safety critical systems.
|
||||
|
||||
+++ http://www.OpenRTOS.com +++
|
||||
Commercial support, development, porting, licensing and training services.
|
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***************************************************************************
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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/*-----------------------------------------------------------
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* Port specific definitions.
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*
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* The settings in this file configure FreeRTOS correctly for the
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* given hardware and compiler.
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*
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* These settings should not be altered.
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*-----------------------------------------------------------
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*/
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/* Type definitions. */
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#define portCHAR char
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#define portFLOAT float
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#define portDOUBLE double
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#define portLONG long
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#define portSHORT short
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#define portSTACK_TYPE unsigned portCHAR
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#define portBASE_TYPE char
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#if( configUSE_16_BIT_TICKS == 1 )
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typedef unsigned portSHORT portTickType;
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#define portMAX_DELAY ( portTickType ) 0xffff
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#else
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typedef unsigned portLONG portTickType;
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#define portMAX_DELAY ( portTickType ) 0xffffffff
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#endif
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/*-----------------------------------------------------------*/
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/* Hardware specifics. */
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#define portBYTE_ALIGNMENT 1
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#define portSTACK_GROWTH ( -1 )
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#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
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#define portYIELD() __asm( "swi" );
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#define portNOP() __asm( "nop" );
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/*-----------------------------------------------------------*/
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/* Critical section handling. */
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#define portENABLE_INTERRUPTS() __asm( "cli" )
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#define portDISABLE_INTERRUPTS() __asm( "sei" )
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/*
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* Disable interrupts before incrementing the count of critical section nesting.
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* The nesting count is maintained so we know when interrupts should be
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* re-enabled. Once interrupts are disabled the nesting count can be accessed
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* directly. Each task maintains its own nesting count.
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*/
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#define portENTER_CRITICAL() \
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{ \
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extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
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\
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portDISABLE_INTERRUPTS(); \
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uxCriticalNesting++; \
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}
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/*
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* Interrupts are disabled so we can access the nesting count directly. If the
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* nesting is found to be 0 (no nesting) then we are leaving the critical
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* section and interrupts can be re-enabled.
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*/
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#define portEXIT_CRITICAL() \
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{ \
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extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
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\
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uxCriticalNesting--; \
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if( uxCriticalNesting == 0 ) \
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{ \
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portENABLE_INTERRUPTS(); \
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} \
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}
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/*-----------------------------------------------------------*/
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/* Task utilities. */
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/*
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* These macros are very simple as the processor automatically saves and
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* restores its registers as interrupts are entered and exited. In
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* addition to the (automatically stacked) registers we also stack the
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* critical nesting count. Each task maintains its own critical nesting
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* count as it is legitimate for a task to yield from within a critical
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* section. If the banked memory model is being used then the PPAGE
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* register is also stored as part of the tasks context.
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*/
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#ifdef BANKED_MODEL
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/*
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* Load the stack pointer for the task, then pull the critical nesting
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* count and PPAGE register from the stack. The remains of the
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* context are restored by the RTI instruction.
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*/
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#define portRESTORE_CONTEXT() \
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{ \
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extern volatile void * pxCurrentTCB; \
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extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
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\
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__asm( "ldx pxCurrentTCB" ); \
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__asm( "lds 0, x" ); \
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__asm( "pula" ); \
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__asm( "staa uxCriticalNesting" ); \
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__asm( "pula" ); \
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__asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
|
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}
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/*
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* By the time this macro is called the processor has already stacked the
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* registers. Simply stack the nesting count and PPAGE value, then save
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* the task stack pointer.
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*/
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#define portSAVE_CONTEXT() \
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{ \
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extern volatile void * pxCurrentTCB; \
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extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
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\
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__asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \
|
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__asm( "psha" ); \
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__asm( "ldaa uxCriticalNesting" ); \
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__asm( "psha" ); \
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__asm( "ldx pxCurrentTCB" ); \
|
||||
__asm( "sts 0, x" ); \
|
||||
}
|
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#else
|
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|
||||
/*
|
||||
* These macros are as per the BANKED versions above, but without saving
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||||
* and restoring the PPAGE register.
|
||||
*/
|
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|
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#define portRESTORE_CONTEXT() \
|
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{ \
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||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
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\
|
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__asm( "ldx pxCurrentTCB" ); \
|
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__asm( "lds 0, x" ); \
|
||||
__asm( "pula" ); \
|
||||
__asm( "staa uxCriticalNesting" ); \
|
||||
}
|
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|
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#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
__asm( "ldaa uxCriticalNesting" ); \
|
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__asm( "psha" ); \
|
||||
__asm( "ldx pxCurrentTCB" ); \
|
||||
__asm( "sts 0, x" ); \
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Utility macro to call macros above in correct order in order to perform a
|
||||
* task switch from within a standard ISR. This macro can only be used if
|
||||
* the ISR does not use any local (stack) variables. If the ISR uses stack
|
||||
* variables portYIELD() should be used in it's place.
|
||||
*/
|
||||
#define portTASK_SWITCH_FROM_ISR() \
|
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portSAVE_CONTEXT(); \
|
||||
vTaskSwitchContext(); \
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
|
||||
/* 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 )
|
||||
|
||||
#define inline
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
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