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Richard Barry 2012-08-11 21:34:11 +00:00
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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.
*/
#include "FreeRTOS.h"
#include "task.h"
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the 16FX port.
*----------------------------------------------------------*/
/*
* Get current value of DPR and ADB registers
*/
portSTACK_TYPE xGet_DPR_ADB_bank( void );
/*
* Get current value of DTB and PCB registers
*/
portSTACK_TYPE xGet_DTB_PCB_bank( void );
/*
* Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but
* can be done using any given RLT.
*/
static void prvSetupRLT0Interrupt( void );
/*-----------------------------------------------------------*/
/*
* We require the address of the pxCurrentTCB variable, but don't want to know
* any details of its type.
*/
typedef void tskTCB;
extern volatile tskTCB * volatile pxCurrentTCB;
/*-----------------------------------------------------------*/
/*
* Macro to save a task context to the task stack. This macro copies the
* saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system
* stack to task stack pointed by user stack pointer ( USP for SMALL and
* MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ),
* then it pushes the general purpose registers RW0-RW7 on to the task
* stack. Finally the resultant stack pointer value is saved into the
* task control block so it can be retrieved the next time the task
* executes.
*/
#if( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) )
#define portSAVE_CONTEXT() \
{ __asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
__asm(" MOVW A, _pxCurrentTCB "); \
__asm(" MOVW A, SP "); \
__asm(" SWAPW "); \
__asm(" MOVW @AL, AH "); \
__asm(" OR CCR,#H'20 "); \
}
/*
* Macro to restore a task context from the task stack. This is effecti-
* vely the reverse of SAVE_CONTEXT(). First the stack pointer value
* (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and
* LARGE memory model ) is loaded from the task control block. Next the
* value of all the general purpose registers RW0-RW7 is retrieved. Fina-
* lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of
* the task to be executed upon RETI from user stack to system stack.
*/
#define portRESTORE_CONTEXT() \
{ __asm(" MOVW A, _pxCurrentTCB "); \
__asm(" MOVW A, @A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" MOVW SP, A "); \
__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
}
#elif( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
#define portSAVE_CONTEXT() \
{ __asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" POPW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" PUSHW A "); \
__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
__asm(" MOVL A, _pxCurrentTCB "); \
__asm(" MOVL RL2, A "); \
__asm(" MOVW A, SP "); \
__asm(" MOVW @RL2+0, A "); \
__asm(" MOV A, USB "); \
__asm(" MOV @RL2+2, A "); \
}
#define portRESTORE_CONTEXT() \
{ __asm(" MOVL A, _pxCurrentTCB "); \
__asm(" MOVL RL2, A "); \
__asm(" MOVW A, @RL2+0 "); \
__asm(" AND CCR,#H'DF "); \
__asm(" MOVW SP, A "); \
__asm(" MOV A, @RL2+2 "); \
__asm(" MOV USB, A "); \
__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
__asm(" AND CCR,#H'DF "); \
__asm(" POPW A "); \
__asm(" OR CCR,#H'20 "); \
__asm(" PUSHW A "); \
}
#endif
/*-----------------------------------------------------------*/
/*
* Functions for obtaining the current value of DPR:ADB, DTB:PCB bank registers
*/
#pragma asm
.GLOBAL _xGet_DPR_ADB_bank
.GLOBAL _xGet_DTB_PCB_bank
.SECTION CODE, CODE, ALIGN=1
_xGet_DPR_ADB_bank:
MOV A, DPR
SWAP
MOV A, ADB
ORW A
#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
RETP
#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
RET
#endif
_xGet_DTB_PCB_bank:
MOV A, DTB
SWAP
MOV A, PCB
ORW A
#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
RETP
#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
RET
#endif
#pragma endasm
/*-----------------------------------------------------------*/
/*
* Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called.
*
* See the header file portable.h.
*/
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 is just useful for debugging. */
*pxTopOfStack = 0x1111;
pxTopOfStack--;
*pxTopOfStack = 0x2222;
pxTopOfStack--;
*pxTopOfStack = 0x3333;
pxTopOfStack--;
/* Once the task is called the task would push the pointer to the
parameter onto the stack. Hence here the pointer would be copied to the stack
first. When using the COMPACT or LARGE memory model the pointer would be 24
bits, and when using the SMALL or MEDIUM memory model the pointer would be 16
bits. */
#if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
{
*pxTopOfStack = ( portSTACK_TYPE ) ( ( unsigned long ) ( pvParameters ) >> 16 );
pxTopOfStack--;
}
#endif
*pxTopOfStack = ( portSTACK_TYPE ) ( pvParameters );
pxTopOfStack--;
/* This is redundant push to the stack. This is required in order to introduce
an offset so that the task accesses a parameter correctly that is passed on to
the task stack. */
#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
{
*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
pxTopOfStack--;
}
#endif
/* This is redundant push to the stack. This is required in order to introduce
an offset so the task correctly accesses the parameter passed on the task stack. */
*pxTopOfStack = ( portSTACK_TYPE ) ( pxCode );
pxTopOfStack--;
/* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */
*pxTopOfStack = 0xE0C0;
pxTopOfStack--;
/* PC */
*pxTopOfStack = ( portSTACK_TYPE ) ( pxCode );
pxTopOfStack--;
/* DTB | PCB */
#if configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
{
*pxTopOfStack = xGet_DTB_PCB_bank();
pxTopOfStack--;
}
#endif
/* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used
along with PC to indicate the start address of the function. */
#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
{
*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
pxTopOfStack--;
}
#endif
/* DPR | ADB */
*pxTopOfStack = xGet_DPR_ADB_bank();
pxTopOfStack--;
/* AL */
*pxTopOfStack = ( portSTACK_TYPE ) 0x9999;
pxTopOfStack--;
/* AH */
*pxTopOfStack = ( portSTACK_TYPE ) 0xAAAA;
pxTopOfStack--;
/* Next the general purpose registers. */
*pxTopOfStack = ( portSTACK_TYPE ) 0x7777; /* RW7 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x6666; /* RW6 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x5555; /* RW5 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x4444; /* RW4 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x3333; /* RW3 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222; /* RW2 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111; /* RW1 */
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x8888; /* RW0 */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
static void prvSetupRLT0Interrupt( void )
{
/* The peripheral clock divided by 16 is used by the timer. */
const unsigned short usReloadValue = ( unsigned short ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL );
/* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */
TMRLR0 = usReloadValue;
/* prescaler 1:16, reload, interrupt enable, count enable, trigger */
TMCSR0 = 0x041B;
}
/*-----------------------------------------------------------*/
portBASE_TYPE xPortStartScheduler( void )
{
/* Setup the hardware to generate the tick. */
prvSetupRLT0Interrupt();
/* Restore the context of the first task that is going to run. */
portRESTORE_CONTEXT();
/* Simulate a function call end as generated by the compiler. We will now
jump to the start of the task the context of which we have just restored. */
__asm(" reti ");
/* Should not get here. */
return pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* Not implemented - unlikely to ever be required as there is nothing to
return to. */
}
/*-----------------------------------------------------------*/
/*
* The interrupt service routine used depends on whether the pre-emptive
* scheduler is being used or not.
*/
#if configUSE_PREEMPTION == 1
/*
* Tick ISR for preemptive scheduler. We can use a __nosavereg attribute
* as the context is to be saved by the portSAVE_CONTEXT() macro, not the
* compiler generated code. The tick count is incremented after the context
* is saved.
*/
__nosavereg __interrupt void prvRLT0_TICKISR( void )
{
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
__DI();
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* Enable interrupts */
__EI();
/* Clear RLT0 interrupt flag */
TMCSR0_UF = 0;
/* Increment the tick count then switch to the highest priority task
that is ready to run. */
vTaskIncrementTick();
vTaskSwitchContext();
/* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */
__DI();
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
/* Enable interrupts */
__EI();
}
#else
/*
* Tick ISR for the cooperative scheduler. All this does is increment the
* tick count. We don't need to switch context, this can only be done by
* manual calls to taskYIELD();
*/
__interrupt void prvRLT0_TICKISR( void )
{
/* Clear RLT0 interrupt flag */
TMCSR0_UF = 0;
vTaskIncrementTick();
}
#endif
/*-----------------------------------------------------------*/
/*
* Manual context switch. We can use a __nosavereg attribute as the context
* is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated
* code.
*/
__nosavereg __interrupt void vPortYield( void )
{
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* Switch to the highest priority task that is ready to run. */
vTaskSwitchContext();
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
__nosavereg __interrupt void vPortYieldDelayed( void )
{
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
__DI();
/* Save the context of the interrupted task. */
portSAVE_CONTEXT();
/* Enable interrupts */
__EI();
/* Clear delayed interrupt flag */
__asm (" CLRB 03A4H:0 ");
/* Switch to the highest priority task that is ready to run. */
vTaskSwitchContext();
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
__DI();
/* Restore the context of the new task. */
portRESTORE_CONTEXT();
/* Enable interrupts */
__EI();
}
/*-----------------------------------------------------------*/