mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-01 08:54:14 -04:00
Add FreeRTOS-Plus directory.
This commit is contained in:
Richard Barry
parent
7bd5f21ad5
commit
f508a5f653
6798 changed files with 134949 additions and 19 deletions
227
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/port.c
Normal file
227
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/port.c
Normal file
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@ -0,0 +1,227 @@
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
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/* Supervisor mode set. */
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#define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
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/* The clock prescale into the timer peripheral. */
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#define portPRESCALE_VALUE ( ( unsigned char ) 10 )
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/* The clock frequency into the RTC. */
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#define portRTC_CLOCK_HZ ( ( unsigned long ) 1000 )
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asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
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static void prvSetupTimerInterrupt( void );
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/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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will be set to 0 prior to the first task being started. */
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static unsigned long ulCriticalNesting = 0x9999UL;
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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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unsigned long ulOriginalA5;
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__asm{ MOVE.L A5, ulOriginalA5 };
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*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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pxTopOfStack--;
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/* Exception stack frame starts with the return address. */
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*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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pxTopOfStack--;
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*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
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pxTopOfStack -= 14; /* A5 to D0. */
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/* Parameter in A0. */
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*( pxTopOfStack + 8 ) = ( portSTACK_TYPE ) pvParameters;
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/* A5 must be maintained as it is resurved by the compiler. */
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*( pxTopOfStack + 13 ) = ulOriginalA5;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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extern void vPortStartFirstTask( void );
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ulCriticalNesting = 0UL;
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/* Configure a timer to generate the tick interrupt. */
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prvSetupTimerInterrupt();
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/* Start the first task executing. */
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vPortStartFirstTask();
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return pdFALSE;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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/* Prescale by 1 - ie no prescale. */
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RTCSC |= 8;
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/* Compare match value. */
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RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
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/* Enable the RTC to generate interrupts - interrupts are already disabled
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when this code executes. */
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RTCSC_RTIE = 1;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented as there is nothing to return to. */
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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if( ulCriticalNesting == 0UL )
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{
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/* Guard against context switches being pended simultaneously with a
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critical section being entered. */
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do
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{
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portDISABLE_INTERRUPTS();
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if( INTC_FRC == 0UL )
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{
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break;
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}
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portENABLE_INTERRUPTS();
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} while( 1 );
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}
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ulCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical( void )
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{
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ulCriticalNesting--;
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if( ulCriticalNesting == 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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void vPortYieldHandler( void )
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{
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unsigned long ulSavedInterruptMask;
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ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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{
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/* Note this will clear all forced interrupts - this is done for speed. */
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INTC_CFRC = 0x3E;
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vTaskSwitchContext();
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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}
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/*-----------------------------------------------------------*/
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void interrupt VectorNumber_Vrtc vPortTickISR( void )
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{
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unsigned long ulSavedInterruptMask;
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/* Clear the interrupt. */
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RTCSC |= RTCSC_RTIF_MASK;
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/* Increment the RTOS tick. */
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ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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{
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vTaskIncrementTick();
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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/* If we are using the pre-emptive scheduler then also request a
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context switch as incrementing the tick could have unblocked a task. */
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#if configUSE_PREEMPTION == 1
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{
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taskYIELD();
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}
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#endif
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}
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169
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portasm.S
Normal file
169
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portasm.S
Normal file
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|
@ -0,0 +1,169 @@
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/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
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||||
* Purpose: Lowest level routines for all ColdFire processors.
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||||
*
|
||||
* Notes:
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||||
*
|
||||
* ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale
|
||||
* supplied source files.
|
||||
*/
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||||
|
||||
.global ulPortSetIPL
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||||
.global _ulPortSetIPL
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||||
.global mcf5xxx_wr_cacrx
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||||
.global _mcf5xxx_wr_cacrx
|
||||
.global vPortYieldISR
|
||||
.global _vPortYieldISR
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||||
.global vPortStartFirstTask
|
||||
.global _vPortStartFirstTask
|
||||
.extern _pxCurrentTCB
|
||||
.extern _vPortYieldHandler
|
||||
|
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.text
|
||||
|
||||
.macro portSAVE_CONTEXT
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||||
|
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lea.l (-60, sp), sp
|
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movem.l d0-a6, (sp)
|
||||
move.l _pxCurrentTCB, a0
|
||||
move.l sp, (a0)
|
||||
|
||||
.endm
|
||||
|
||||
.macro portRESTORE_CONTEXT
|
||||
|
||||
move.l _pxCurrentTCB, a0
|
||||
move.l (a0), sp
|
||||
movem.l (sp), d0-a6
|
||||
lea.l (60, sp), sp
|
||||
rte
|
||||
|
||||
.endm
|
||||
|
||||
/********************************************************************/
|
||||
/*
|
||||
* This routines changes the IPL to the value passed into the routine.
|
||||
* It also returns the old IPL value back.
|
||||
* Calling convention from C:
|
||||
* old_ipl = asm_set_ipl(new_ipl);
|
||||
* For the Diab Data C compiler, it passes return value thru D0.
|
||||
* Note that only the least significant three bits of the passed
|
||||
* value are used.
|
||||
*/
|
||||
|
||||
ulPortSetIPL:
|
||||
_ulPortSetIPL:
|
||||
link A6,#-8
|
||||
movem.l D6-D7,(SP)
|
||||
|
||||
move.w SR,D7 /* current sr */
|
||||
|
||||
move.l D7,D6 /* prepare return value */
|
||||
andi.l #0x0700,D6 /* mask out IPL */
|
||||
lsr.l #8,D6 /* IPL */
|
||||
|
||||
andi.l #0x07,D0 /* least significant three bits */
|
||||
lsl.l #8,D0 /* move over to make mask */
|
||||
|
||||
andi.l #0x0000F8FF,D7 /* zero out current IPL */
|
||||
or.l D0,D7 /* place new IPL in sr */
|
||||
move.w D7,SR
|
||||
|
||||
move.l D6, D0 /* Return value in D0. */
|
||||
movem.l (SP),D6-D7
|
||||
lea 8(SP),SP
|
||||
unlk A6
|
||||
rts
|
||||
/********************************************************************/
|
||||
|
||||
mcf5xxx_wr_cacrx:
|
||||
_mcf5xxx_wr_cacrx:
|
||||
move.l 4(sp),d0
|
||||
.long 0x4e7b0002 /* movec d0,cacr */
|
||||
nop
|
||||
rts
|
||||
|
||||
/********************************************************************/
|
||||
|
||||
/* Yield interrupt. */
|
||||
_vPortYieldISR:
|
||||
vPortYieldISR:
|
||||
portSAVE_CONTEXT
|
||||
jsr _vPortYieldHandler
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
/********************************************************************/
|
||||
|
||||
|
||||
vPortStartFirstTask:
|
||||
_vPortStartFirstTask:
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
.end
|
||||
|
||||
|
||||
149
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portmacro.h
Normal file
149
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V1/portmacro.h
Normal file
|
|
@ -0,0 +1,149 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* 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 long
|
||||
#define portBASE_TYPE long
|
||||
|
||||
#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 4
|
||||
#define portSTACK_GROWTH -1
|
||||
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
unsigned portLONG ulPortSetIPL( unsigned portLONG );
|
||||
#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 )
|
||||
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
|
||||
extern unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void );
|
||||
extern void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE );
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
#define portNOP() asm volatile ( "nop" )
|
||||
|
||||
/* Context switches are requested using the force register. */
|
||||
#define portYIELD() INTC_SFRC = 0x3E; portNOP(); portNOP(); portNOP(); portNOP(); portNOP()
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \
|
||||
{ \
|
||||
portYIELD(); \
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
186
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/port.c
Normal file
186
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/port.c
Normal file
|
|
@ -0,0 +1,186 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/* Kernel includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
|
||||
#define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
|
||||
|
||||
/* Supervisor mode set. */
|
||||
#define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
|
||||
|
||||
/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
|
||||
will be set to 0 prior to the first task being started. */
|
||||
static unsigned long ulCriticalNesting = 0x9999UL;
|
||||
|
||||
|
||||
#define portSAVE_CONTEXT() \
|
||||
lea.l (-60, %sp), %sp; \
|
||||
movem.l %d0-%fp, (%sp); \
|
||||
move.l pxCurrentTCB, %a0; \
|
||||
move.l %sp, (%a0);
|
||||
|
||||
#define portRESTORE_CONTEXT() \
|
||||
move.l pxCurrentTCB, %a0; \
|
||||
move.l (%a0), %sp; \
|
||||
movem.l (%sp), %d0-%fp; \
|
||||
lea.l %sp@(60), %sp; \
|
||||
rte
|
||||
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
||||
{
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
|
||||
pxTopOfStack--;
|
||||
|
||||
/* Exception stack frame starts with the return address. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
|
||||
pxTopOfStack--;
|
||||
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
|
||||
pxTopOfStack -= 14; /* A5 to D0. */
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xPortStartScheduler( void )
|
||||
{
|
||||
extern void vPortStartFirstTask( void );
|
||||
|
||||
ulCriticalNesting = 0UL;
|
||||
|
||||
/* Configure the interrupts used by this port. */
|
||||
vApplicationSetupInterrupts();
|
||||
|
||||
/* Start the first task executing. */
|
||||
vPortStartFirstTask();
|
||||
|
||||
return pdFALSE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* Not implemented as there is nothing to return to. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEnterCritical( void )
|
||||
{
|
||||
if( ulCriticalNesting == 0UL )
|
||||
{
|
||||
/* Guard against context switches being pended simultaneously with a
|
||||
critical section being entered. */
|
||||
do
|
||||
{
|
||||
portDISABLE_INTERRUPTS();
|
||||
if( MCF_INTC0_INTFRCH == 0UL )
|
||||
{
|
||||
break;
|
||||
}
|
||||
|
||||
portENABLE_INTERRUPTS();
|
||||
|
||||
} while( 1 );
|
||||
}
|
||||
ulCriticalNesting++;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortExitCritical( void )
|
||||
{
|
||||
ulCriticalNesting--;
|
||||
if( ulCriticalNesting == 0 )
|
||||
{
|
||||
portENABLE_INTERRUPTS();
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortYieldHandler( void )
|
||||
{
|
||||
unsigned long ulSavedInterruptMask;
|
||||
|
||||
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
|
||||
/* Note this will clear all forced interrupts - this is done for speed. */
|
||||
MCF_INTC0_INTFRCL = 0;
|
||||
vTaskSwitchContext();
|
||||
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
169
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portasm.S
Normal file
169
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portasm.S
Normal file
|
|
@ -0,0 +1,169 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Purpose: Lowest level routines for all ColdFire processors.
|
||||
*
|
||||
* Notes:
|
||||
*
|
||||
* ulPortSetIPL() and mcf5xxx_wr_cacr() copied with permission from FreeScale
|
||||
* supplied source files.
|
||||
*/
|
||||
|
||||
.global ulPortSetIPL
|
||||
.global _ulPortSetIPL
|
||||
.global mcf5xxx_wr_cacrx
|
||||
.global _mcf5xxx_wr_cacrx
|
||||
.global vPortYieldISR
|
||||
.global _vPortYieldISR
|
||||
.global vPortStartFirstTask
|
||||
.global _vPortStartFirstTask
|
||||
.extern _pxCurrentTCB
|
||||
.extern _vPortYieldHandler
|
||||
|
||||
.text
|
||||
|
||||
.macro portSAVE_CONTEXT
|
||||
|
||||
lea.l (-60, sp), sp
|
||||
movem.l d0-a6, (sp)
|
||||
move.l _pxCurrentTCB, a0
|
||||
move.l sp, (a0)
|
||||
|
||||
.endm
|
||||
|
||||
.macro portRESTORE_CONTEXT
|
||||
|
||||
move.l _pxCurrentTCB, a0
|
||||
move.l (a0), sp
|
||||
movem.l (sp), d0-a6
|
||||
lea.l (60, sp), sp
|
||||
rte
|
||||
|
||||
.endm
|
||||
|
||||
/********************************************************************/
|
||||
/*
|
||||
* This routines changes the IPL to the value passed into the routine.
|
||||
* It also returns the old IPL value back.
|
||||
* Calling convention from C:
|
||||
* old_ipl = asm_set_ipl(new_ipl);
|
||||
* For the Diab Data C compiler, it passes return value thru D0.
|
||||
* Note that only the least significant three bits of the passed
|
||||
* value are used.
|
||||
*/
|
||||
|
||||
ulPortSetIPL:
|
||||
_ulPortSetIPL:
|
||||
link A6,#-8
|
||||
movem.l D6-D7,(SP)
|
||||
|
||||
move.w SR,D7 /* current sr */
|
||||
|
||||
move.l D7,D0 /* prepare return value */
|
||||
andi.l #0x0700,D0 /* mask out IPL */
|
||||
lsr.l #8,D0 /* IPL */
|
||||
|
||||
move.l 8(A6),D6 /* get argument */
|
||||
andi.l #0x07,D6 /* least significant three bits */
|
||||
lsl.l #8,D6 /* move over to make mask */
|
||||
|
||||
andi.l #0x0000F8FF,D7 /* zero out current IPL */
|
||||
or.l D6,D7 /* place new IPL in sr */
|
||||
move.w D7,SR
|
||||
|
||||
movem.l (SP),D6-D7
|
||||
lea 8(SP),SP
|
||||
unlk A6
|
||||
rts
|
||||
/********************************************************************/
|
||||
|
||||
mcf5xxx_wr_cacrx:
|
||||
_mcf5xxx_wr_cacrx:
|
||||
move.l 4(sp),d0
|
||||
.long 0x4e7b0002 /* movec d0,cacr */
|
||||
nop
|
||||
rts
|
||||
|
||||
/********************************************************************/
|
||||
|
||||
/* Yield interrupt. */
|
||||
_vPortYieldISR:
|
||||
vPortYieldISR:
|
||||
portSAVE_CONTEXT
|
||||
jsr _vPortYieldHandler
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
/********************************************************************/
|
||||
|
||||
|
||||
vPortStartFirstTask:
|
||||
_vPortStartFirstTask:
|
||||
portRESTORE_CONTEXT
|
||||
|
||||
.end
|
||||
|
||||
|
||||
149
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portmacro.h
Normal file
149
FreeRTOS/Source/portable/CodeWarrior/ColdFire_V2/portmacro.h
Normal file
|
|
@ -0,0 +1,149 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
#ifndef PORTMACRO_H
|
||||
#define PORTMACRO_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* 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 long
|
||||
#define portBASE_TYPE long
|
||||
|
||||
#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 4
|
||||
#define portSTACK_GROWTH -1
|
||||
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||
/*-----------------------------------------------------------*/
|
||||
unsigned portLONG ulPortSetIPL( unsigned portLONG );
|
||||
#define portDISABLE_INTERRUPTS() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#define portENABLE_INTERRUPTS() ulPortSetIPL( 0 )
|
||||
|
||||
|
||||
extern void vPortEnterCritical( void );
|
||||
extern void vPortExitCritical( void );
|
||||
#define portENTER_CRITICAL() vPortEnterCritical()
|
||||
#define portEXIT_CRITICAL() vPortExitCritical()
|
||||
|
||||
extern unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void );
|
||||
extern void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE );
|
||||
#define portSET_INTERRUPT_MASK_FROM_ISR() ulPortSetIPL( configMAX_SYSCALL_INTERRUPT_PRIORITY )
|
||||
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) ulPortSetIPL( uxSavedStatusRegister )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
|
||||
#define portNOP() asm volatile ( "nop" )
|
||||
|
||||
/* Note this will overwrite all other bits in the force register, it is done this way for speed. */
|
||||
#define portYIELD() MCF_INTC0_INTFRCL = ( 1UL << configYIELD_INTERRUPT_VECTOR ); portNOP(); portNOP() /* -32 as we are using the high word of the 64bit mask. */
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task function macros as described on the FreeRTOS.org WEB site. */
|
||||
#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
|
||||
#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) \
|
||||
{ \
|
||||
portYIELD(); \
|
||||
}
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
277
FreeRTOS/Source/portable/CodeWarrior/HCS12/port.c
Normal file
277
FreeRTOS/Source/portable/CodeWarrior/HCS12/port.c
Normal file
|
|
@ -0,0 +1,277 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
|
||||
/*-----------------------------------------------------------
|
||||
* Implementation of functions defined in portable.h for the HCS12 port.
|
||||
*----------------------------------------------------------*/
|
||||
|
||||
|
||||
/*
|
||||
* Configure a timer to generate the RTOS tick at the frequency specified
|
||||
* within FreeRTOSConfig.h.
|
||||
*/
|
||||
static void prvSetupTimerInterrupt( void );
|
||||
|
||||
/* Interrupt service routines have to be in non-banked memory - as does the
|
||||
scheduler startup function. */
|
||||
#pragma CODE_SEG __NEAR_SEG NON_BANKED
|
||||
|
||||
/* Manual context switch function. This is the SWI ISR. */
|
||||
void interrupt vPortYield( void );
|
||||
|
||||
/* Tick context switch function. This is the timer ISR. */
|
||||
void interrupt vPortTickInterrupt( void );
|
||||
|
||||
/* Simply called by xPortStartScheduler(). xPortStartScheduler() does not
|
||||
start the scheduler directly because the header file containing the
|
||||
xPortStartScheduler() prototype is part of the common kernel code, and
|
||||
therefore cannot use the CODE_SEG pragma. */
|
||||
static portBASE_TYPE xBankedStartScheduler( void );
|
||||
|
||||
#pragma CODE_SEG DEFAULT
|
||||
|
||||
/* Calls to portENTER_CRITICAL() can be nested. When they are nested the
|
||||
critical section should not be left (i.e. interrupts should not be re-enabled)
|
||||
until the nesting depth reaches 0. This variable simply tracks the nesting
|
||||
depth. Each task maintains it's own critical nesting depth variable so
|
||||
uxCriticalNesting is saved and restored from the task stack during a context
|
||||
switch. */
|
||||
volatile unsigned portBASE_TYPE uxCriticalNesting = 0xff;
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* See header file for description.
|
||||
*/
|
||||
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
||||
{
|
||||
/*
|
||||
Place a few bytes of known values on the bottom of the stack.
|
||||
This can be uncommented to provide useful stack markers when debugging.
|
||||
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x11;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x22;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x33;
|
||||
pxTopOfStack--;
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/* Setup the initial stack of the task. The stack is set exactly as
|
||||
expected by the portRESTORE_CONTEXT() macro. In this case the stack as
|
||||
expected by the HCS12 RTI instruction. */
|
||||
|
||||
|
||||
/* The address of the task function is placed in the stack byte at a time. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 1 );
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 0 );
|
||||
pxTopOfStack--;
|
||||
|
||||
/* Next are all the registers that form part of the task context. */
|
||||
|
||||
/* Y register */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0xff;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0xee;
|
||||
pxTopOfStack--;
|
||||
|
||||
/* X register */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0xdd;
|
||||
pxTopOfStack--;
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0xcc;
|
||||
pxTopOfStack--;
|
||||
|
||||
/* A register contains parameter high byte. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 0 );
|
||||
pxTopOfStack--;
|
||||
|
||||
/* B register contains parameter low byte. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 1 );
|
||||
pxTopOfStack--;
|
||||
|
||||
/* CCR: Note that when the task starts interrupts will be enabled since
|
||||
"I" bit of CCR is cleared */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
|
||||
pxTopOfStack--;
|
||||
|
||||
#ifdef BANKED_MODEL
|
||||
/* The page of the task. */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) ( ( int ) pxCode );
|
||||
pxTopOfStack--;
|
||||
#endif
|
||||
|
||||
/* Finally the critical nesting depth is initialised with 0 (not within
|
||||
a critical section). */
|
||||
*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
|
||||
|
||||
return pxTopOfStack;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vPortEndScheduler( void )
|
||||
{
|
||||
/* It is unlikely that the HCS12 port will get stopped. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSetupTimerInterrupt( void )
|
||||
{
|
||||
TickTimer_SetFreqHz( configTICK_RATE_HZ );
|
||||
TickTimer_Enable();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
portBASE_TYPE xPortStartScheduler( void )
|
||||
{
|
||||
/* xPortStartScheduler() does not start the scheduler directly because
|
||||
the header file containing the xPortStartScheduler() prototype is part
|
||||
of the common kernel code, and therefore cannot use the CODE_SEG pragma.
|
||||
Instead it simply calls the locally defined xBankedStartScheduler() -
|
||||
which does use the CODE_SEG pragma. */
|
||||
|
||||
return xBankedStartScheduler();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#pragma CODE_SEG __NEAR_SEG NON_BANKED
|
||||
|
||||
static portBASE_TYPE xBankedStartScheduler( void )
|
||||
{
|
||||
/* Configure the timer that will generate the RTOS tick. Interrupts are
|
||||
disabled when this function is called. */
|
||||
prvSetupTimerInterrupt();
|
||||
|
||||
/* Restore the context of the first task. */
|
||||
portRESTORE_CONTEXT();
|
||||
|
||||
/* Simulate the end of an interrupt to start the scheduler off. */
|
||||
__asm( "rti" );
|
||||
|
||||
/* Should not get here! */
|
||||
return pdFALSE;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Context switch functions. These are both interrupt service routines.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Manual context switch forced by calling portYIELD(). This is the SWI
|
||||
* handler.
|
||||
*/
|
||||
void interrupt vPortYield( void )
|
||||
{
|
||||
portSAVE_CONTEXT();
|
||||
vTaskSwitchContext();
|
||||
portRESTORE_CONTEXT();
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* RTOS tick interrupt service routine. If the cooperative scheduler is
|
||||
* being used then this simply increments the tick count. If the
|
||||
* preemptive scheduler is being used a context switch can occur.
|
||||
*/
|
||||
void interrupt vPortTickInterrupt( void )
|
||||
{
|
||||
#if configUSE_PREEMPTION == 1
|
||||
{
|
||||
/* A context switch might happen so save the context. */
|
||||
portSAVE_CONTEXT();
|
||||
|
||||
/* Increment the tick ... */
|
||||
vTaskIncrementTick();
|
||||
|
||||
/* ... then see if the new tick value has necessitated a
|
||||
context switch. */
|
||||
vTaskSwitchContext();
|
||||
|
||||
TFLG1 = 1;
|
||||
|
||||
/* Restore the context of a task - which may be a different task
|
||||
to that interrupted. */
|
||||
portRESTORE_CONTEXT();
|
||||
}
|
||||
#else
|
||||
{
|
||||
vTaskIncrementTick();
|
||||
TFLG1 = 1;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
#pragma CODE_SEG DEFAULT
|
||||
|
||||
|
||||
237
FreeRTOS/Source/portable/CodeWarrior/HCS12/portmacro.h
Normal file
237
FreeRTOS/Source/portable/CodeWarrior/HCS12/portmacro.h
Normal file
|
|
@ -0,0 +1,237 @@
|
|||
/*
|
||||
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
|
||||
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* FreeRTOS tutorial books are available in pdf and paperback. *
|
||||
* Complete, revised, and edited pdf reference manuals are also *
|
||||
* available. *
|
||||
* *
|
||||
* Purchasing FreeRTOS documentation will not only help you, by *
|
||||
* ensuring you get running as quickly as possible and with an *
|
||||
* in-depth knowledge of how to use FreeRTOS, it will also help *
|
||||
* the FreeRTOS project to continue with its mission of providing *
|
||||
* professional grade, cross platform, de facto standard solutions *
|
||||
* for microcontrollers - completely free of charge! *
|
||||
* *
|
||||
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
|
||||
* *
|
||||
* Thank you for using FreeRTOS, and thank you for your support! *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
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 (version 2) as published by the
|
||||
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
||||
>>>NOTE<<< The modification to the GPL is included to allow you to
|
||||
distribute a combined work that includes FreeRTOS without being obliged to
|
||||
provide the source code for proprietary components outside of the FreeRTOS
|
||||
kernel. 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 and the FreeRTOS license exception along with FreeRTOS; if not it
|
||||
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
||||
by writing to Richard Barry, contact details for whom are available on the
|
||||
FreeRTOS WEB site.
|
||||
|
||||
1 tab == 4 spaces!
|
||||
|
||||
***************************************************************************
|
||||
* *
|
||||
* Having a problem? Start by reading the FAQ "My application does *
|
||||
* not run, what could be wrong? *
|
||||
* *
|
||||
* http://www.FreeRTOS.org/FAQHelp.html *
|
||||
* *
|
||||
***************************************************************************
|
||||
|
||||
|
||||
http://www.FreeRTOS.org - Documentation, training, latest information,
|
||||
license and contact details.
|
||||
|
||||
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
||||
including FreeRTOS+Trace - an indispensable productivity tool.
|
||||
|
||||
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
|
||||
the code with commercial support, indemnification, and middleware, under
|
||||
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
|
||||
provide a safety engineered and independently SIL3 certified version under
|
||||
the SafeRTOS brand: http://www.SafeRTOS.com.
|
||||
*/
|
||||
|
||||
|
||||
#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 portCHAR
|
||||
#define portBASE_TYPE char
|
||||
|
||||
#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 1
|
||||
#define portSTACK_GROWTH ( -1 )
|
||||
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
||||
#define portYIELD() __asm( "swi" );
|
||||
#define portNOP() __asm( "nop" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Critical section handling. */
|
||||
#define portENABLE_INTERRUPTS() __asm( "cli" )
|
||||
#define portDISABLE_INTERRUPTS() __asm( "sei" )
|
||||
|
||||
/*
|
||||
* Disable interrupts before incrementing the count of critical section nesting.
|
||||
* The nesting count is maintained so we know when interrupts should be
|
||||
* re-enabled. Once interrupts are disabled the nesting count can be accessed
|
||||
* directly. Each task maintains its own nesting count.
|
||||
*/
|
||||
#define portENTER_CRITICAL() \
|
||||
{ \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
portDISABLE_INTERRUPTS(); \
|
||||
uxCriticalNesting++; \
|
||||
}
|
||||
|
||||
/*
|
||||
* Interrupts are disabled so we can access the nesting count directly. If the
|
||||
* nesting is found to be 0 (no nesting) then we are leaving the critical
|
||||
* section and interrupts can be re-enabled.
|
||||
*/
|
||||
#define portEXIT_CRITICAL() \
|
||||
{ \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
uxCriticalNesting--; \
|
||||
if( uxCriticalNesting == 0 ) \
|
||||
{ \
|
||||
portENABLE_INTERRUPTS(); \
|
||||
} \
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Task utilities. */
|
||||
|
||||
/*
|
||||
* These macros are very simple as the processor automatically saves and
|
||||
* restores its registers as interrupts are entered and exited. In
|
||||
* addition to the (automatically stacked) registers we also stack the
|
||||
* critical nesting count. Each task maintains its own critical nesting
|
||||
* count as it is legitimate for a task to yield from within a critical
|
||||
* section. If the banked memory model is being used then the PPAGE
|
||||
* register is also stored as part of the tasks context.
|
||||
*/
|
||||
|
||||
#ifdef BANKED_MODEL
|
||||
/*
|
||||
* Load the stack pointer for the task, then pull the critical nesting
|
||||
* count and PPAGE register from the stack. The remains of the
|
||||
* context are restored by the RTI instruction.
|
||||
*/
|
||||
#define portRESTORE_CONTEXT() \
|
||||
{ \
|
||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
__asm( "ldx pxCurrentTCB" ); \
|
||||
__asm( "lds 0, x" ); \
|
||||
__asm( "pula" ); \
|
||||
__asm( "staa uxCriticalNesting" ); \
|
||||
__asm( "pula" ); \
|
||||
__asm( "staa 0x30" ); /* 0x30 = PPAGE */ \
|
||||
}
|
||||
|
||||
/*
|
||||
* By the time this macro is called the processor has already stacked the
|
||||
* registers. Simply stack the nesting count and PPAGE value, then save
|
||||
* the task stack pointer.
|
||||
*/
|
||||
#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
__asm( "ldaa 0x30" ); /* 0x30 = PPAGE */ \
|
||||
__asm( "psha" ); \
|
||||
__asm( "ldaa uxCriticalNesting" ); \
|
||||
__asm( "psha" ); \
|
||||
__asm( "ldx pxCurrentTCB" ); \
|
||||
__asm( "sts 0, x" ); \
|
||||
}
|
||||
#else
|
||||
|
||||
/*
|
||||
* These macros are as per the BANKED versions above, but without saving
|
||||
* and restoring the PPAGE register.
|
||||
*/
|
||||
|
||||
#define portRESTORE_CONTEXT() \
|
||||
{ \
|
||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
__asm( "ldx pxCurrentTCB" ); \
|
||||
__asm( "lds 0, x" ); \
|
||||
__asm( "pula" ); \
|
||||
__asm( "staa uxCriticalNesting" ); \
|
||||
}
|
||||
|
||||
#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
extern volatile void * pxCurrentTCB; \
|
||||
extern volatile unsigned portBASE_TYPE uxCriticalNesting; \
|
||||
\
|
||||
__asm( "ldaa uxCriticalNesting" ); \
|
||||
__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() \
|
||||
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 )
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue