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Final tidy up before V7.6.0 zip file creation.

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Richard Barry 2013-11-17 15:46:08 +00:00
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commit fa002f7fdd
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272
FreeRTOS/Source/portable/MPLAB/PIC32MZ/ISR_Support.h Normal file
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/*
FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
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, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#include "FreeRTOSConfig.h"
#define portCONTEXT_SIZE 160
#define portEPC_STACK_LOCATION 152
#define portSTATUS_STACK_LOCATION 156
/******************************************************************/
.macro portSAVE_CONTEXT
/* Make room for the context. First save the current status so it can be
manipulated, and the cause and EPC registers so their original values are
captured. */
mfc0 k0, _CP0_CAUSE
addiu sp, sp, -portCONTEXT_SIZE
mfc0 k1, _CP0_STATUS
/* Also save s6 and s5 so they can be used. Any nesting interrupts should
maintain the values of these registers across the ISR. */
sw s6, 44(sp)
sw s5, 40(sp)
sw k1, portSTATUS_STACK_LOCATION(sp)
/* Prepare to enable interrupts above the current priority. */
srl k0, k0, 0xa
ins k1, k0, 10, 7
srl k0, k0, 0x7 /* This copies the MSB of the IPL, but it would be an error if it was set anyway. */
ins k1, k0, 18, 1
ins k1, zero, 1, 4
/* s5 is used as the frame pointer. */
add s5, zero, sp
/* Check the nesting count value. */
la k0, uxInterruptNesting
lw s6, (k0)
/* If the nesting count is 0 then swap to the the system stack, otherwise
the system stack is already being used. */
bne s6, zero, 1f
nop
/* Swap to the system stack. */
la sp, xISRStackTop
lw sp, (sp)
/* Increment and save the nesting count. */
1: addiu s6, s6, 1
sw s6, 0(k0)
/* s6 holds the EPC value, this is saved after interrupts are re-enabled. */
mfc0 s6, _CP0_EPC
/* Re-enable interrupts. */
mtc0 k1, _CP0_STATUS
/* Save the context into the space just created. s6 is saved again
here as it now contains the EPC value. No other s registers need be
saved. */
sw ra, 120(s5)
sw s8, 116(s5)
sw t9, 112(s5)
sw t8, 108(s5)
sw t7, 104(s5)
sw t6, 100(s5)
sw t5, 96(s5)
sw t4, 92(s5)
sw t3, 88(s5)
sw t2, 84(s5)
sw t1, 80(s5)
sw t0, 76(s5)
sw a3, 72(s5)
sw a2, 68(s5)
sw a1, 64(s5)
sw a0, 60(s5)
sw v1, 56(s5)
sw v0, 52(s5)
sw s6, portEPC_STACK_LOCATION(s5)
sw $1, 16(s5)
/* Save the AC0, AC1, AC2, AC3 registers from the DSP. s6 is used as a
scratch register. */
mfhi s6, $ac1
sw s6, 128(s5)
mflo s6, $ac1
sw s6, 124(s5)
mfhi s6, $ac2
sw s6, 136(s5)
mflo s6, $ac2
sw s6, 132(s5)
mfhi s6, $ac3
sw s6, 144(s5)
mflo s6, $ac3
sw s6, 140(s5)
/* Save the DSP Control register */
rddsp s6
sw s6, 148(s5)
/* ac0 is done separately to match the MX port. */
mfhi s6, $ac0
sw s6, 12(s5)
mflo s6, $ac0
sw s6, 8(s5)
/* Update the task stack pointer value if nesting is zero. */
la s6, uxInterruptNesting
lw s6, (s6)
addiu s6, s6, -1
bne s6, zero, 1f
nop
/* Save the stack pointer. */
la s6, uxSavedTaskStackPointer
sw s5, (s6)
1:
.endm
/******************************************************************/
.macro portRESTORE_CONTEXT
/* Restore the stack pointer from the TCB. This is only done if the
nesting count is 1. */
la s6, uxInterruptNesting
lw s6, (s6)
addiu s6, s6, -1
bne s6, zero, 1f
nop
la s6, uxSavedTaskStackPointer
lw s5, (s6)
/* Restore the context. */
1: lw s6, 128(s5)
mthi s6, $ac1
lw s6, 124(s5)
mtlo s6, $ac1
lw s6, 136(s5)
mthi s6, $ac2
lw s6, 132(s5)
mtlo s6, $ac2
lw s6, 144(s5)
mthi s6, $ac3
lw s6, 140(s5)
mtlo s6, $ac3
/* Restore DSPControl. */
lw s6, 148(s5)
wrdsp s6
lw s6, 8(s5)
mtlo s6, $ac0
lw s6, 12(s5)
mthi s6, $ac0
lw $1, 16(s5)
/* s6 is loaded as it was used as a scratch register and therefore saved
as part of the interrupt context. */
lw s6, 44(s5)
lw v0, 52(s5)
lw v1, 56(s5)
lw a0, 60(s5)
lw a1, 64(s5)
lw a2, 68(s5)
lw a3, 72(s5)
lw t0, 76(s5)
lw t1, 80(s5)
lw t2, 84(s5)
lw t3, 88(s5)
lw t4, 92(s5)
lw t5, 96(s5)
lw t6, 100(s5)
lw t7, 104(s5)
lw t8, 108(s5)
lw t9, 112(s5)
lw s8, 116(s5)
lw ra, 120(s5)
/* Protect access to the k registers, and others. */
di
ehb
/* Decrement the nesting count. */
la k0, uxInterruptNesting
lw k1, (k0)
addiu k1, k1, -1
sw k1, 0(k0)
lw k0, portSTATUS_STACK_LOCATION(s5)
lw k1, portEPC_STACK_LOCATION(s5)
/* Leave the stack in its original state. First load sp from s5, then
restore s5 from the stack. */
add sp, zero, s5
lw s5, 40(sp)
addiu sp, sp, portCONTEXT_SIZE
mtc0 k0, _CP0_STATUS
mtc0 k1, _CP0_EPC
ehb
eret
nop
.endm

380
FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c Normal file
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/*
FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
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, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the PIC32MZ port.
*----------------------------------------------------------*/
#include <xc.h>
/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#if !defined(__PIC32MZ__)
#error This port is designed to work with XC32 on PIC32MZ MCUs. Please update your C compiler version or settings.
#endif
#if( ( configMAX_SYSCALL_INTERRUPT_PRIORITY >= 0x7 ) || ( configMAX_SYSCALL_INTERRUPT_PRIORITY == 0 ) )
#error configMAX_SYSCALL_INTERRUPT_PRIORITY must be less than 7 and greater than 0
#endif
/* Hardware specifics. */
#define portTIMER_PRESCALE 8
#define portPRESCALE_BITS 1
/* Bits within various registers. */
#define portIE_BIT ( 0x00000001 )
#define portEXL_BIT ( 0x00000002 )
#define portMX_BIT ( 0x01000000 ) /* Allow access to DSP instructions. */
/* Bits within the CAUSE register. */
#define portCORE_SW_0 ( 0x00000100 )
#define portCORE_SW_1 ( 0x00000200 )
/* The EXL bit is set to ensure interrupts do not occur while the context of
the first task is being restored. */
#define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT )
/*
By default port.c generates its tick interrupt from TIMER1. The user can
override this behaviour by:
1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(),
which is the function that configures the timer. The function is defined
as a weak symbol in this file so if the same function name is used in the
application code then the version in the application code will be linked
into the application in preference to the version defined in this file.
2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used
to generate the tick interrupt. For example, when timer 1 is used then
configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR.
configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h.
3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the
timer used to generate the tick interrupt. For example, when timer 1 is
used configCLEAR_TICK_TIMER_INTERRUPT() is defined to
IFS0CLR = _IFS0_T1IF_MASK.
*/
#ifndef configTICK_INTERRUPT_VECTOR
#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
#define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK
#else
#ifndef configCLEAR_TICK_TIMER_INTERRUPT
#error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code.
#endif
#endif
/* Let the user override the pre-loading of the initial RA with the address of
prvTaskExitError() in case is messes up unwinding of the stack in the
debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */
#ifdef configTASK_RETURN_ADDRESS
#define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS
#else
#define portTASK_RETURN_ADDRESS prvTaskExitError
#endif
/* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task
stack checking. A problem in the ISR stack will trigger an assert, not call the
stack overflow hook function (because the stack overflow hook is specific to a
task stack, not the ISR stack). */
#if( configCHECK_FOR_STACK_OVERFLOW > 2 )
/* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for
the task stacks, and so will legitimately appear in many positions within
the ISR stack. */
#define portISR_STACK_FILL_BYTE 0xee
static const unsigned char ucExpectedStackBytes[] = {
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \
portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \
#define portCHECK_ISR_STACK() configASSERT( ( memcmp( ( void * ) xISRStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) == 0 ) )
#else
/* Define the function away. */
#define portCHECK_ISR_STACK()
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
/*-----------------------------------------------------------*/
/*
* Place the prototype here to ensure the interrupt vector is correctly installed.
* Note that because the interrupt is written in assembly, the IPL setting in the
* following line of code has no effect. The interrupt priority is set by the
* call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
*/
extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );
/*
* The software interrupt handler that performs the yield. Note that, because
* the interrupt is written in assembly, the IPL setting in the following line of
* code has no effect. The interrupt priority is set by the call to
* mConfigIntCoreSW0() in xPortStartScheduler().
*/
void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );
/*
* Used to catch tasks that attempt to return from their implementing function.
*/
static void prvTaskExitError( void );
/*-----------------------------------------------------------*/
/* Records the interrupt nesting depth. This is initialised to one as it is
decremented to 0 when the first task starts. */
volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;
/* Stores the task stack pointer when a switch is made to use the system stack. */
unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;
/* The stack used by interrupt service routines that cause a context switch. */
portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
/* The top of stack value ensures there is enough space to store 6 registers on
the callers stack, as some functions seem to want to do this. */
const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
/*-----------------------------------------------------------*/
/*
* See header file for description.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
/* Ensure byte alignment is maintained when leaving this function. */
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR;/* CP0_STATUS */
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) pxCode; /* CP0_EPC */
pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */
*pxTopOfStack = (portSTACK_TYPE) 0x00000000; /* DSPControl */
pxTopOfStack--;
*pxTopOfStack = (portSTACK_TYPE) portTASK_RETURN_ADDRESS; /* ra */
pxTopOfStack -= 15;
*pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in. */
pxTopOfStack -= 15;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
static void prvTaskExitError( void )
{
/* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ).
Artificially force an assert() to be triggered if configASSERT() is
defined, then stop here so application writers can catch the error. */
configASSERT( uxSavedTaskStackPointer == 0UL );
portDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/
/*
* Setup a timer for a regular tick. This function uses peripheral timer 1.
* The function is declared weak so an application writer can use a different
* timer by redefining this implementation. If a different timer is used then
* configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to
* ensure the RTOS provided tick interrupt handler is installed on the correct
* vector number. When Timer 1 is used the vector number is defined as
* _TIMER_1_VECTOR.
*/
__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
{
const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;
T1CON = 0x0000;
T1CONbits.TCKPS = portPRESCALE_BITS;
PR1 = ulCompareMatch;
IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
/* Clear the interrupt as a starting condition. */
IFS0bits.T1IF = 0;
/* Enable the interrupt. */
IEC0bits.T1IE = 1;
/* Start the timer. */
T1CONbits.TON = 1;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler(void)
{
/* It is unlikely that the scheduler for the PIC port will get stopped
once running. If required disable the tick interrupt here, then return
to xPortStartScheduler(). */
for( ;; );
}
/*-----------------------------------------------------------*/
portBASE_TYPE xPortStartScheduler( void )
{
extern void vPortStartFirstTask( void );
extern void *pxCurrentTCB;
#if ( configCHECK_FOR_STACK_OVERFLOW > 2 )
{
/* Fill the ISR stack to make it easy to asses how much is being used. */
memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) );
}
#endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */
/* Clear the software interrupt flag. */
IFS0CLR = _IFS0_CS0IF_MASK;
/* Set software timer priority. */
IPC0CLR = _IPC0_CS0IP_MASK;
IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION );
/* Enable software interrupt. */
IEC0CLR = _IEC0_CS0IE_MASK;
IEC0SET = 1 << _IEC0_CS0IE_POSITION;
/* Setup the timer to generate the tick. Interrupts will have been
disabled by the time we get here. */
vApplicationSetupTickTimerInterrupt();
/* Kick off the highest priority task that has been created so far.
Its stack location is loaded into uxSavedTaskStackPointer. */
uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;
vPortStartFirstTask();
/* Should never get here as the tasks will now be executing! Call the task
exit error function to prevent compiler warnings about a static function
not being called in the case that the application writer overrides this
functionality by defining configTASK_RETURN_ADDRESS. */
prvTaskExitError();
return pdFALSE;
}
/*-----------------------------------------------------------*/
void vPortIncrementTick( void )
{
unsigned portBASE_TYPE uxSavedStatus;
uxSavedStatus = uxPortSetInterruptMaskFromISR();
{
if( xTaskIncrementTick() != pdFALSE )
{
/* Pend a context switch. */
_CP0_BIS_CAUSE( portCORE_SW_0 );
}
}
vPortClearInterruptMaskFromISR( uxSavedStatus );
/* Look for the ISR stack getting near or past its limit. */
portCHECK_ISR_STACK();
/* Clear timer interrupt. */
configCLEAR_TICK_TIMER_INTERRUPT();
}
/*-----------------------------------------------------------*/
unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void )
{
unsigned portBASE_TYPE uxSavedStatusRegister;
__builtin_disable_interrupts();
uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;
/* This clears the IPL bits, then sets them to
configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called
from an interrupt that has a priority above
configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action
can only result in the IPL being unchanged or raised, and therefore never
lowered. */
_CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) );
return uxSavedStatusRegister;
}
/*-----------------------------------------------------------*/
void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE uxSavedStatusRegister )
{
_CP0_SET_STATUS( uxSavedStatusRegister );
}
/*-----------------------------------------------------------*/

349
FreeRTOS/Source/portable/MPLAB/PIC32MZ/port_asm.S Normal file
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/*
FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
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, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#include <xc.h>
#include <sys/asm.h>
#include "ISR_Support.h"
.set nomips16
.set noreorder
.extern pxCurrentTCB
.extern vTaskSwitchContext
.extern vPortIncrementTick
.extern xISRStackTop
.global vPortStartFirstTask
.global vPortYieldISR
.global vPortTickInterruptHandler
/******************************************************************/
.set noreorder
.set noat
.ent vPortTickInterruptHandler
vPortTickInterruptHandler:
portSAVE_CONTEXT
jal vPortIncrementTick
nop
portRESTORE_CONTEXT
.end vPortTickInterruptHandler
/******************************************************************/
.set noreorder
.set noat
.ent vPortStartFirstTask
vPortStartFirstTask:
/* Simply restore the context of the highest priority task that has been
created so far. */
portRESTORE_CONTEXT
.end vPortStartFirstTask
/*******************************************************************/
.set noreorder
.set noat
.ent vPortYieldISR
vPortYieldISR:
/* Make room for the context. First save the current status so it can be
manipulated, and the cause and EPC registers so thier original values are
captured. */
addiu sp, sp, -portCONTEXT_SIZE
mfc0 k1, _CP0_STATUS
/* Also save s6 and s5 so they can be used. Any nesting interrupts should
maintain the values of these registers across the ISR. */
sw s6, 44(sp)
sw s5, 40(sp)
sw k1, portSTATUS_STACK_LOCATION(sp)
/* Prepare to re-enabled interrupts above the kernel priority. */
ins k1, zero, 10, 7 /* Clear IPL bits 0:6. */
ins k1, zero, 18, 1 /* Clear IPL bit 7. It would be an error here if this bit were set anyway. */
ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 )
ins k1, zero, 1, 4 /* Clear EXL, ERL and UM. */
/* s5 is used as the frame pointer. */
add s5, zero, sp
/* Swap to the system stack. This is not conditional on the nesting
count as this interrupt is always the lowest priority and therefore
the nesting is always 0. */
la sp, xISRStackTop
lw sp, (sp)
/* Set the nesting count. */
la k0, uxInterruptNesting
addiu s6, zero, 1
sw s6, 0(k0)
/* s6 holds the EPC value, this is saved with the rest of the context
after interrupts are enabled. */
mfc0 s6, _CP0_EPC
/* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */
mtc0 k1, _CP0_STATUS
/* Save the context into the space just created. s6 is saved again
here as it now contains the EPC value. */
sw ra, 120(s5)
sw s8, 116(s5)
sw t9, 112(s5)
sw t8, 108(s5)
sw t7, 104(s5)
sw t6, 100(s5)
sw t5, 96(s5)
sw t4, 92(s5)
sw t3, 88(s5)
sw t2, 84(s5)
sw t1, 80(s5)
sw t0, 76(s5)
sw a3, 72(s5)
sw a2, 68(s5)
sw a1, 64(s5)
sw a0, 60(s5)
sw v1, 56(s5)
sw v0, 52(s5)
sw s7, 48(s5)
sw s6, portEPC_STACK_LOCATION(s5)
/* s5 and s6 has already been saved. */
sw s4, 36(s5)
sw s3, 32(s5)
sw s2, 28(s5)
sw s1, 24(s5)
sw s0, 20(s5)
sw $1, 16(s5)
/* s7 is used as a scratch register as this should always be saved across
nesting interrupts. */
/* Save the AC0, AC1, AC2 and AC3. */
mfhi s7, $ac1
sw s7, 128(s5)
mflo s7, $ac1
sw s7, 124(s5)
mfhi s7, $ac2
sw s7, 136(s5)
mflo s7, $ac2
sw s7, 132(s5)
mfhi s7, $ac3
sw s7, 144(s5)
mflo s7, $ac3
sw s7, 140(s5)
rddsp s7
sw s7, 148(s5)
mfhi s7, $ac0
sw s7, 12(s5)
mflo s7, $ac0
sw s7, 8(s5)
/* Save the stack pointer to the task. */
la s7, pxCurrentTCB
lw s7, (s7)
sw s5, (s7)
/* Set the interrupt mask to the max priority that can use the API. The
yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which
is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever
raise the IPL value and never lower it. */
di
ehb
mfc0 s7, _CP0_STATUS
ins s7, zero, 10, 7
ins s7, zero, 18, 1
ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1
/* This mtc0 re-enables interrupts, but only above
configMAX_SYSCALL_INTERRUPT_PRIORITY. */
mtc0 s6, _CP0_STATUS
ehb
/* Clear the software interrupt in the core. */
mfc0 s6, _CP0_CAUSE
ins s6, zero, 8, 1
mtc0 s6, _CP0_CAUSE
ehb
/* Clear the interrupt in the interrupt controller. */
la s6, IFS0CLR
addiu s4, zero, 2
sw s4, (s6)
jal vTaskSwitchContext
nop
/* Clear the interrupt mask again. The saved status value is still in s7. */
mtc0 s7, _CP0_STATUS
ehb
/* Restore the stack pointer from the TCB. */
la s0, pxCurrentTCB
lw s0, (s0)
lw s5, (s0)
/* Restore the rest of the context. */
lw s0, 128(s5)
mthi s0, $ac1
lw s0, 124(s5)
mtlo s0, $ac1
lw s0, 136(s5)
mthi s0, $ac2
lw s0, 132(s5)
mtlo s0, $ac2
lw s0, 144(s5)
mthi s0, $ac3
lw s0, 140(s5)
mtlo s0, $ac3
lw s0, 148(s5)
wrdsp s0
lw s0, 8(s5)
mtlo s0, $ac0
lw s0, 12(s5)
mthi s0, $ac0
lw $1, 16(s5)
lw s0, 20(s5)
lw s1, 24(s5)
lw s2, 28(s5)
lw s3, 32(s5)
lw s4, 36(s5)
/* s5 is loaded later. */
lw s6, 44(s5)
lw s7, 48(s5)
lw v0, 52(s5)
lw v1, 56(s5)
lw a0, 60(s5)
lw a1, 64(s5)
lw a2, 68(s5)
lw a3, 72(s5)
lw t0, 76(s5)
lw t1, 80(s5)
lw t2, 84(s5)
lw t3, 88(s5)
lw t4, 92(s5)
lw t5, 96(s5)
lw t6, 100(s5)
lw t7, 104(s5)
lw t8, 108(s5)
lw t9, 112(s5)
lw s8, 116(s5)
lw ra, 120(s5)
/* Protect access to the k registers, and others. */
di
ehb
/* Set nesting back to zero. As the lowest priority interrupt this
interrupt cannot have nested. */
la k0, uxInterruptNesting
sw zero, 0(k0)
/* Switch back to use the real stack pointer. */
add sp, zero, s5
/* Restore the real s5 value. */
lw s5, 40(sp)
/* Pop the status and epc values. */
lw k1, portSTATUS_STACK_LOCATION(sp)
lw k0, portEPC_STACK_LOCATION(sp)
/* Remove stack frame. */
addiu sp, sp, portCONTEXT_SIZE
mtc0 k1, _CP0_STATUS
mtc0 k0, _CP0_EPC
ehb
eret
nop
.end vPortYieldISR

232
FreeRTOS/Source/portable/MPLAB/PIC32MZ/portmacro.h Normal file
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@ -0,0 +1,232 @@
/*
FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that has become a de facto standard. *
* *
* Help yourself get started quickly and support the FreeRTOS *
* project by purchasing a FreeRTOS tutorial book, reference *
* manual, or both from: http://www.FreeRTOS.org/Documentation *
* *
* Thank you! *
* *
***************************************************************************
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. Full license text is available from the following
link: http://www.freertos.org/a00114.html
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, books, training, latest versions,
license and Real Time Engineers Ltd. contact details.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef PORTMACRO_H
#define PORTMACRO_H
/* System include files */
#include <xc.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 long portTickType;
#define portMAX_DELAY ( portTickType ) 0xffffffff
#endif
/*-----------------------------------------------------------*/
/* Hardware specifics. */
#define portBYTE_ALIGNMENT 8
#define portSTACK_GROWTH -1
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
/*-----------------------------------------------------------*/
/* Critical section management. */
#define portIPL_SHIFT ( 10UL )
/* Don't straddle the CEE bit. Interrupts calling FreeRTOS functions should
never have higher IPL bits set anyway. */
#define portALL_IPL_BITS ( 0x7FUL << portIPL_SHIFT )
#define portSW0_BIT ( 0x01 << 8 )
/* This clears the IPL bits, then sets them to
configMAX_SYSCALL_INTERRUPT_PRIORITY. An extra check is performed if
configASSERT() is defined to ensure an assertion handler does not inadvertently
attempt to lower the IPL when the call to assert was triggered because the IPL
value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR
safe FreeRTOS API function was executed. ISR safe FreeRTOS API functions are
those that end in FromISR. FreeRTOS maintains a separate interrupt API to
ensure API function and interrupt entry is as fast and as simple as possible. */
#ifdef configASSERT
#define portDISABLE_INTERRUPTS() \
{ \
unsigned long ulStatus; \
\
/* Mask interrupts at and below the kernel interrupt priority. */ \
ulStatus = _CP0_GET_STATUS(); \
\
/* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */ \
if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \
{ \
ulStatus &= ~portALL_IPL_BITS; \
_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
} \
}
#else /* configASSERT */
#define portDISABLE_INTERRUPTS() \
{ \
unsigned long ulStatus; \
\
/* Mask interrupts at and below the kernel interrupt priority. */ \
ulStatus = _CP0_GET_STATUS(); \
ulStatus &= ~portALL_IPL_BITS; \
_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
}
#endif /* configASSERT */
#define portENABLE_INTERRUPTS() \
{ \
unsigned long ulStatus; \
\
/* Unmask all interrupts. */ \
ulStatus = _CP0_GET_STATUS(); \
ulStatus &= ~portALL_IPL_BITS; \
_CP0_SET_STATUS( ulStatus ); \
}
extern void vTaskEnterCritical( void );
extern void vTaskExitCritical( void );
#define portCRITICAL_NESTING_IN_TCB 1
#define portENTER_CRITICAL() vTaskEnterCritical()
#define portEXIT_CRITICAL() vTaskExitCritical()
extern unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR();
extern void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE );
#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister )
#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
/* Check the configuration. */
#if( configMAX_PRIORITIES > 32 )
#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
#endif
/* Store/clear the ready priorities in a bit map. */
#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
/*-----------------------------------------------------------*/
#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - _clz( ( uxReadyPriorities ) ) )
#endif /* taskRECORD_READY_PRIORITY */
/*-----------------------------------------------------------*/
/* Task utilities. */
#define portYIELD() \
{ \
unsigned long ulCause; \
\
/* Trigger software interrupt. */ \
ulCause = _CP0_GET_CAUSE(); \
ulCause |= portSW0_BIT; \
_CP0_SET_CAUSE( ulCause ); \
}
#define portCURRENT_INTERRUPT_PRIORITY ( ( _CP0_GET_STATUS() & portALL_IPL_BITS ) >> portIPL_SHIFT )
#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( portCURRENT_INTERRUPT_PRIORITY <= configMAX_SYSCALL_INTERRUPT_PRIORITY )
#define portNOP() __asm volatile ( "nop" )
/*-----------------------------------------------------------*/
/* 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 ) \
{ \
portYIELD(); \
}
/* Required by the kernel aware debugger. */
#ifdef __DEBUG
#define portREMOVE_STATIC_QUALIFIER
#endif
#ifdef __cplusplus
}
#endif
#endif /* PORTMACRO_H */