mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-19 09:38:32 -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
276
FreeRTOS/Source/portable/GCC/HCS12/port.c
Normal file
276
FreeRTOS/Source/portable/GCC/HCS12/port.c
Normal file
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|
@ -0,0 +1,276 @@
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/*
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FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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||||
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||||
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||||
***************************************************************************
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* *
|
||||
* 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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/* GCC/HCS12 port by Jefferson L Smith, 2005 */
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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Port includes */
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#include <sys/ports_def.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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/* NOTE: Interrupt service routines must be in non-banked memory - as does the
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scheduler startup function. */
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#define ATTR_NEAR __attribute__((near))
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/* Manual context switch function. This is the SWI ISR. */
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// __attribute__((interrupt))
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void ATTR_NEAR vPortYield( void );
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/* Tick context switch function. This is the timer ISR. */
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// __attribute__((interrupt))
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void ATTR_NEAR vPortTickInterrupt( void );
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/* Function in non-banked memory which actually switches to first task. */
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portBASE_TYPE ATTR_NEAR xStartSchedulerNear( void );
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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 = 0x80; // un-initialized
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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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/* 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 = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 0 );
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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 = ( portSTACK_TYPE ) 0xee;
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/* X register */
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*--pxTopOfStack = ( portSTACK_TYPE ) 0xdd;
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*--pxTopOfStack = ( portSTACK_TYPE ) 0xcc;
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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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/* B register contains parameter low byte. */
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*--pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 1 );
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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 ) 0x80; // keeps Stop disabled (MCU default)
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/* tmp softregs used by GCC. Values right now don't matter. */
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__asm("\n\
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movw _.frame, 2,-%0 \n\
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movw _.tmp, 2,-%0 \n\
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movw _.z, 2,-%0 \n\
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movw _.xy, 2,-%0 \n\
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;movw _.d2, 2,-%0 \n\
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;movw _.d1, 2,-%0 \n\
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": "=A"(pxTopOfStack) : "0"(pxTopOfStack) );
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#ifdef BANKED_MODEL
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/* The page of the task. */
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*--pxTopOfStack = 0x30; // can only directly start in PPAGE 0x30
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#endif
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/* The critical nesting depth is initialised with 0 (meaning not in
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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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/* Enable hardware RTI timer */
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/* Ignores configTICK_RATE_HZ */
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RTICTL = 0x50; // 16 MHz xtal: 976.56 Hz, 1024mS
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CRGINT |= 0x80; // RTIE
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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 xNearStartScheduler() -
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which does use the CODE_SEG pragma. */
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short register d;
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__asm ("jmp xStartSchedulerNear ; will never return": "=d"(d));
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return d;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xStartSchedulerNear( 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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portISR_TAIL();
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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 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 vPortYield( void )
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{
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portISR_HEAD();
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/* NOTE: This is the trap routine (swi) although not defined as a trap.
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It will fill the stack the same way as an ISR in order to mix preemtion
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and cooperative yield. */
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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portISR_TAIL();
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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 vPortTickInterrupt( void )
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{
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portISR_HEAD();
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/* Clear tick timer flag */
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CRGFLG = 0x80;
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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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/* 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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}
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#endif
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portISR_TAIL();
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}
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280
FreeRTOS/Source/portable/GCC/HCS12/portmacro.h
Normal file
280
FreeRTOS/Source/portable/GCC/HCS12/portmacro.h
Normal file
|
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@ -0,0 +1,280 @@
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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.
|
||||
*/
|
||||
|
||||
|
||||
#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 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" );
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* 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() \
|
||||
{ \
|
||||
__asm( " \n\
|
||||
.globl pxCurrentTCB ; void * \n\
|
||||
.globl uxCriticalNesting ; char \n\
|
||||
\n\
|
||||
ldx pxCurrentTCB \n\
|
||||
lds 0,x ; Stack \n\
|
||||
\n\
|
||||
movb 1,sp+,uxCriticalNesting \n\
|
||||
movb 1,sp+,0x30 ; PPAGE \n\
|
||||
" ); \
|
||||
}
|
||||
|
||||
/*
|
||||
* 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() \
|
||||
{ \
|
||||
__asm( " \n\
|
||||
.globl pxCurrentTCB ; void * \n\
|
||||
.globl uxCriticalNesting ; char \n\
|
||||
\n\
|
||||
movb 0x30, 1,-sp ; PPAGE \n\
|
||||
movb uxCriticalNesting, 1,-sp \n\
|
||||
\n\
|
||||
ldx pxCurrentTCB \n\
|
||||
sts 0,x ; Stack \n\
|
||||
" ); \
|
||||
}
|
||||
#else
|
||||
|
||||
/*
|
||||
* These macros are as per the BANKED versions above, but without saving
|
||||
* and restoring the PPAGE register.
|
||||
*/
|
||||
|
||||
#define portRESTORE_CONTEXT() \
|
||||
{ \
|
||||
__asm( " \n\
|
||||
.globl pxCurrentTCB ; void * \n\
|
||||
.globl uxCriticalNesting ; char \n\
|
||||
\n\
|
||||
ldx pxCurrentTCB \n\
|
||||
lds 0,x ; Stack \n\
|
||||
\n\
|
||||
movb 1,sp+,uxCriticalNesting \n\
|
||||
" ); \
|
||||
}
|
||||
|
||||
#define portSAVE_CONTEXT() \
|
||||
{ \
|
||||
__asm( " \n\
|
||||
.globl pxCurrentTCB ; void * \n\
|
||||
.globl uxCriticalNesting ; char \n\
|
||||
\n\
|
||||
movb uxCriticalNesting, 1,-sp \n\
|
||||
\n\
|
||||
ldx pxCurrentTCB \n\
|
||||
sts 0,x ; Stack \n\
|
||||
" ); \
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Utility macros to save/restore correct software registers for GCC. This is
|
||||
* useful when GCC does not generate appropriate ISR head/tail code.
|
||||
*/
|
||||
#define portISR_HEAD() \
|
||||
{ \
|
||||
__asm(" \n\
|
||||
movw _.frame, 2,-sp \n\
|
||||
movw _.tmp, 2,-sp \n\
|
||||
movw _.z, 2,-sp \n\
|
||||
movw _.xy, 2,-sp \n\
|
||||
;movw _.d2, 2,-sp \n\
|
||||
;movw _.d1, 2,-sp \n\
|
||||
"); \
|
||||
}
|
||||
|
||||
#define portISR_TAIL() \
|
||||
{ \
|
||||
__asm(" \n\
|
||||
movw 2,sp+, _.xy \n\
|
||||
movw 2,sp+, _.z \n\
|
||||
movw 2,sp+, _.tmp \n\
|
||||
movw 2,sp+, _.frame \n\
|
||||
;movw 2,sp+, _.d1 \n\
|
||||
;movw 2,sp+, _.d2 \n\
|
||||
rti \n\
|
||||
"); \
|
||||
}
|
||||
|
||||
/*
|
||||
* 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 )
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* PORTMACRO_H */
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue