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Add FreeRTOS-Plus directory.
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Richard Barry
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6798 changed files with 134949 additions and 19 deletions
329
FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/port.c
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329
FreeRTOS/Source/portable/MPLAB/PIC24_dsPIC/port.c
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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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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong? *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, training, latest information,
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license and contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool.
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Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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the code with commercial support, indemnification, and middleware, under
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the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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provide a safety engineered and independently SIL3 certified version under
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the SafeRTOS brand: http://www.SafeRTOS.com.
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*/
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/*
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Changes from V4.2.1
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+ Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the PIC24 port.
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*----------------------------------------------------------*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Hardware specifics. */
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#define portBIT_SET 1
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#define portTIMER_PRESCALE 8
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#define portINITIAL_SR 0
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/* Defined for backward compatability with project created prior to
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FreeRTOS.org V4.3.0. */
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#ifndef configKERNEL_INTERRUPT_PRIORITY
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#define configKERNEL_INTERRUPT_PRIORITY 1
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#endif
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/* The program counter is only 23 bits. */
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#define portUNUSED_PR_BITS 0x7f
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/* Records the nesting depth of calls to portENTER_CRITICAL(). */
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unsigned portBASE_TYPE uxCriticalNesting = 0xef;
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#if configKERNEL_INTERRUPT_PRIORITY != 1
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#error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )
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#endif
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#ifdef MPLAB_PIC24_PORT
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#define portRESTORE_CONTEXT() \
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asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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"MOV [W0], W15 \n" \
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"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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"MOV W0, _uxCriticalNesting \n" \
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"POP PSVPAG \n" \
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"POP CORCON \n" \
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"POP TBLPAG \n" \
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"POP RCOUNT \n" /* Restore the registers from the stack. */ \
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"POP W14 \n" \
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"POP.D W12 \n" \
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"POP.D W10 \n" \
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"POP.D W8 \n" \
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"POP.D W6 \n" \
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"POP.D W4 \n" \
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"POP.D W2 \n" \
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"POP.D W0 \n" \
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"POP SR " );
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#endif /* MPLAB_PIC24_PORT */
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#ifdef MPLAB_DSPIC_PORT
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#define portRESTORE_CONTEXT() \
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asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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"MOV [W0], W15 \n" \
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"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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"MOV W0, _uxCriticalNesting \n" \
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"POP PSVPAG \n" \
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"POP CORCON \n" \
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"POP DOENDH \n" \
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"POP DOENDL \n" \
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"POP DOSTARTH \n" \
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"POP DOSTARTL \n" \
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"POP DCOUNT \n" \
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"POP ACCBU \n" \
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"POP ACCBH \n" \
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"POP ACCBL \n" \
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"POP ACCAU \n" \
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"POP ACCAH \n" \
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"POP ACCAL \n" \
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"POP TBLPAG \n" \
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"POP RCOUNT \n" /* Restore the registers from the stack. */ \
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"POP W14 \n" \
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"POP.D W12 \n" \
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"POP.D W10 \n" \
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"POP.D W8 \n" \
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"POP.D W6 \n" \
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"POP.D W4 \n" \
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"POP.D W2 \n" \
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"POP.D W0 \n" \
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"POP SR " );
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#endif /* MPLAB_DSPIC_PORT */
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/*
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* Setup the timer used to generate the tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void );
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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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unsigned short usCode;
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portBASE_TYPE i;
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const portSTACK_TYPE xInitialStack[] =
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{
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0x1111, /* W1 */
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0x2222, /* W2 */
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0x3333, /* W3 */
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0x4444, /* W4 */
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0x5555, /* W5 */
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0x6666, /* W6 */
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0x7777, /* W7 */
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0x8888, /* W8 */
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0x9999, /* W9 */
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0xaaaa, /* W10 */
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0xbbbb, /* W11 */
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0xcccc, /* W12 */
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0xdddd, /* W13 */
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0xeeee, /* W14 */
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0xcdce, /* RCOUNT */
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0xabac, /* TBLPAG */
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/* dsPIC specific registers. */
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#ifdef MPLAB_DSPIC_PORT
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0x0202, /* ACCAL */
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0x0303, /* ACCAH */
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0x0404, /* ACCAU */
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0x0505, /* ACCBL */
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0x0606, /* ACCBH */
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0x0707, /* ACCBU */
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0x0808, /* DCOUNT */
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0x090a, /* DOSTARTL */
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0x1010, /* DOSTARTH */
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0x1110, /* DOENDL */
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0x1212, /* DOENDH */
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#endif
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};
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/* Setup the stack as if a yield had occurred.
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Save the low bytes of the program counter. */
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usCode = ( unsigned short ) pxCode;
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*pxTopOfStack = ( portSTACK_TYPE ) usCode;
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pxTopOfStack++;
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/* Save the high byte of the program counter. This will always be zero
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here as it is passed in a 16bit pointer. If the address is greater than
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16 bits then the pointer will point to a jump table. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0;
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pxTopOfStack++;
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/* Status register with interrupts enabled. */
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*pxTopOfStack = portINITIAL_SR;
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pxTopOfStack++;
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/* Parameters are passed in W0. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack++;
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for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ )
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{
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*pxTopOfStack = xInitialStack[ i ];
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pxTopOfStack++;
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}
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*pxTopOfStack = CORCON;
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pxTopOfStack++;
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*pxTopOfStack = PSVPAG;
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pxTopOfStack++;
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/* Finally the critical nesting depth. */
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*pxTopOfStack = 0x00;
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pxTopOfStack++;
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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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/* Setup a timer for the tick ISR. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task to run. */
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portRESTORE_CONTEXT();
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/* Simulate the end of the yield function. */
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asm volatile ( "return" );
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/* Should not reach here. */
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return pdTRUE;
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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 scheduler for the PIC port will get stopped
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once running. If required disable the tick interrupt here, then return
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to xPortStartScheduler(). */
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup a timer for a regular tick.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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const unsigned long ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
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/* Prescale of 8. */
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T1CON = 0;
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TMR1 = 0;
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PR1 = ( unsigned short ) ulCompareMatch;
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/* Setup timer 1 interrupt priority. */
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IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
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/* Clear the interrupt as a starting condition. */
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IFS0bits.T1IF = 0;
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/* Enable the interrupt. */
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IEC0bits.T1IE = 1;
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/* Setup the prescale value. */
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T1CONbits.TCKPS0 = 1;
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T1CONbits.TCKPS1 = 0;
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/* Start the timer. */
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T1CONbits.TON = 1;
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}
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/*-----------------------------------------------------------*/
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void vPortEnterCritical( void )
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{
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portDISABLE_INTERRUPTS();
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uxCriticalNesting++;
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}
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/*-----------------------------------------------------------*/
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void vPortExitCritical( void )
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{
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uxCriticalNesting--;
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if( uxCriticalNesting == 0 )
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{
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portENABLE_INTERRUPTS();
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}
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}
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/*-----------------------------------------------------------*/
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void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void )
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{
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/* Clear the timer interrupt. */
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IFS0bits.T1IF = 0;
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vTaskIncrementTick();
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#if configUSE_PREEMPTION == 1
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portYIELD();
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#endif
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}
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