mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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331 lines
12 KiB
C
331 lines
12 KiB
C
/*
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FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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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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***************************************************************************
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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 !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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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, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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/*
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Changes from V2.6.1
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+ Replaced the sUsingPreemption variable with the configUSE_PREEMPTION
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macro to be consistent with the later ports.
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Changes from V4.0.1
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+ Add function prvSetTickFrequencyDefault() to set the DOS tick back to
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its proper value when the scheduler exits.
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*/
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#include <stdlib.h>
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#include <dos.h>
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#include <setjmp.h>
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#include "FreeRTOS.h"
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#include "task.h"
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#include "portasm.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the industrial
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* PC port.
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*----------------------------------------------------------*/
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/*lint -e950 Non ANSI reserved words okay in this file only. */
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#define portTIMER_INT_NUMBER 0x08
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/* Setup hardware for required tick interrupt rate. */
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static void prvSetTickFrequency( uint32_t ulTickRateHz );
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/* Restore hardware to as it was prior to starting the scheduler. */
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static void prvExitFunction( void );
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/* Either chain to the DOS tick (which itself clears the PIC) or clear the PIC
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directly. We chain to the DOS tick as close as possible to the standard DOS
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tick rate. */
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static void prvPortResetPIC( void );
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/* The ISR used depends on whether the preemptive or cooperative
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scheduler is being used. */
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#if( configUSE_PREEMPTION == 1 )
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/* Tick service routine used by the scheduler when preemptive scheduling is
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being used. */
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static void __interrupt __far prvPreemptiveTick( void );
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#else
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/* Tick service routine used by the scheduler when cooperative scheduling is
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being used. */
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static void __interrupt __far prvNonPreemptiveTick( void );
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#endif
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/* Trap routine used by taskYIELD() to manually cause a context switch. */
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static void __interrupt __far prvYieldProcessor( void );
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/* Set the tick frequency back so the floppy drive works correctly when the
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scheduler exits. */
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static void prvSetTickFrequencyDefault( void );
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/*lint -e956 File scopes necessary here. */
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/* Used to signal when to chain to the DOS tick, and when to just clear the PIC ourselves. */
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static int16_t sDOSTickCounter;
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/* Set true when the vectors are set so the scheduler will service the tick. */
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static BaseType_t xSchedulerRunning = pdFALSE;
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/* Points to the original routine installed on the vector we use for manual context switches. This is then used to restore the original routine during prvExitFunction(). */
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static void ( __interrupt __far *pxOldSwitchISR )();
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/* Points to the original routine installed on the vector we use to chain to the DOS tick. This is then used to restore the original routine during prvExitFunction(). */
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static void ( __interrupt __far *pxOldSwitchISRPlus1 )();
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/* Used to restore the original DOS context when the scheduler is ended. */
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static jmp_buf xJumpBuf;
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/*lint +e956 */
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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pxISR pxOriginalTickISR;
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/* This is called with interrupts already disabled. */
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/* Remember what was on the interrupts we are going to use
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so we can put them back later if required. */
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pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER );
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pxOriginalTickISR = _dos_getvect( portTIMER_INT_NUMBER );
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pxOldSwitchISRPlus1 = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
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prvSetTickFrequency( configTICK_RATE_HZ );
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/* Put our manual switch (yield) function on a known
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vector. */
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_dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor );
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/* Put the old tick on a different interrupt number so we can
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call it when we want. */
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_dos_setvect( portSWITCH_INT_NUMBER + 1, pxOriginalTickISR );
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/* The ISR used depends on whether the preemptive or cooperative
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scheduler is being used. */
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#if( configUSE_PREEMPTION == 1 )
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{
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/* Put our tick switch function on the timer interrupt. */
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_dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick );
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}
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#else
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{
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/* We want the timer interrupt to just increment the tick count. */
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_dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick );
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}
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#endif
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/* Setup a counter that is used to call the DOS interrupt as close
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to it's original frequency as can be achieved given our chosen tick
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frequency. */
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sDOSTickCounter = portTICKS_PER_DOS_TICK;
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/* Clean up function if we want to return to DOS. */
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if( setjmp( xJumpBuf ) != 0 )
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{
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prvExitFunction();
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xSchedulerRunning = pdFALSE;
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}
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else
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{
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xSchedulerRunning = pdTRUE;
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/* Kick off the scheduler by setting up the context of the first task. */
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portFIRST_CONTEXT();
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}
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return xSchedulerRunning;
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}
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/*-----------------------------------------------------------*/
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/* The ISR used depends on whether the preemptive or cooperative
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scheduler is being used. */
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#if( configUSE_PREEMPTION == 1 )
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static void __interrupt __far prvPreemptiveTick( void )
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{
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/* Get the scheduler to update the task states following the tick. */
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if( xTaskIncrementTick() != pdFALSE )
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{
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/* Switch in the context of the next task to be run. */
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portSWITCH_CONTEXT();
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}
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/* Reset the PIC ready for the next time. */
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prvPortResetPIC();
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}
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#else
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static void __interrupt __far prvNonPreemptiveTick( void )
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{
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/* Same as preemptive tick, but the cooperative scheduler is being used
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so we don't have to switch in the context of the next task. */
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xTaskIncrementTick();
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prvPortResetPIC();
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}
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#endif
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/*-----------------------------------------------------------*/
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static void __interrupt __far prvYieldProcessor( void )
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{
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/* Switch in the context of the next task to be run. */
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portSWITCH_CONTEXT();
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}
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/*-----------------------------------------------------------*/
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static void prvPortResetPIC( void )
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{
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/* We are going to call the DOS tick interrupt at as close a
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frequency to the normal DOS tick as possible. */
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/* WE SHOULD NOT DO THIS IF YIELD WAS CALLED. */
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--sDOSTickCounter;
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if( sDOSTickCounter <= 0 )
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{
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sDOSTickCounter = ( int16_t ) portTICKS_PER_DOS_TICK;
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__asm{ int portSWITCH_INT_NUMBER + 1 };
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}
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else
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{
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/* Reset the PIC as the DOS tick is not being called to
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do it. */
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__asm
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{
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mov al, 20H
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out 20H, al
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};
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}
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Jump back to the processor state prior to starting the
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scheduler. This means we are not going to be using a
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task stack frame so the task can be deleted. */
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longjmp( xJumpBuf, 1 );
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}
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/*-----------------------------------------------------------*/
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static void prvExitFunction( void )
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{
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void ( __interrupt __far *pxOriginalTickISR )();
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/* Interrupts should be disabled here anyway - but no
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harm in making sure. */
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portDISABLE_INTERRUPTS();
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if( xSchedulerRunning == pdTRUE )
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{
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/* Set the DOS tick back onto the timer ticker. */
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pxOriginalTickISR = _dos_getvect( portSWITCH_INT_NUMBER + 1 );
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_dos_setvect( portTIMER_INT_NUMBER, pxOriginalTickISR );
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prvSetTickFrequencyDefault();
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/* Put back the switch interrupt routines that was in place
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before the scheduler started. */
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_dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR );
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_dos_setvect( portSWITCH_INT_NUMBER + 1, pxOldSwitchISRPlus1 );
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}
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/* The tick timer is back how DOS wants it. We can re-enable
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interrupts without the scheduler being called. */
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portENABLE_INTERRUPTS();
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}
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/*-----------------------------------------------------------*/
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static void prvSetTickFrequency( uint32_t ulTickRateHz )
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{
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const uint16_t usPIT_MODE = ( uint16_t ) 0x43;
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const uint16_t usPIT0 = ( uint16_t ) 0x40;
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const uint32_t ulPIT_CONST = ( uint32_t ) 1193180UL;
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const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36;
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uint32_t ulOutput;
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/* Setup the 8245 to tick at the wanted frequency. */
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portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 );
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ulOutput = ulPIT_CONST / ulTickRateHz;
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portOUTPUT_BYTE( usPIT0, ( uint16_t )( ulOutput & ( uint32_t ) 0xff ) );
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ulOutput >>= 8;
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portOUTPUT_BYTE( usPIT0, ( uint16_t ) ( ulOutput & ( uint32_t ) 0xff ) );
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}
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/*-----------------------------------------------------------*/
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static void prvSetTickFrequencyDefault( void )
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{
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const uint16_t usPIT_MODE = ( uint16_t ) 0x43;
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const uint16_t usPIT0 = ( uint16_t ) 0x40;
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const uint16_t us8254_CTR0_MODE3 = ( uint16_t ) 0x36;
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portOUTPUT_BYTE( usPIT_MODE, us8254_CTR0_MODE3 );
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portOUTPUT_BYTE( usPIT0,0 );
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portOUTPUT_BYTE( usPIT0,0 );
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}
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/*lint +e950 */
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