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538 lines
17 KiB
C
538 lines
17 KiB
C
17 years ago
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/*
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FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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+++ http://www.OpenRTOS.com +++
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Commercial support, development, porting, licensing and training services.
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***************************************************************************
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "mb96348hs.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the 16FX port.
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*----------------------------------------------------------*/
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/* ------- Memory models --------- default address size */
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/* data code */
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#define SMALL 0 /* 16 Bit 16 Bit */
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#define MEDIUM 1 /* 16 Bit 24 Bit */
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#define COMPACT 2 /* 24 Bit 16 Bit */
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#define LARGE 3 /* 24 Bit 24 Bit */
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/*
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* The below define should be same as the option selected by the Memory
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* Model (Project->Setup Project->C Compiler->Catagory->Target Depend )
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*/
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#define MEMMODEL MEDIUM
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/*-----------------------------------------------------------*/
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/*
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* We require the address of the pxCurrentTCB variable, but don't want to know
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* any details of its type.
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*/
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typedef void tskTCB;
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extern volatile tskTCB * volatile pxCurrentTCB;
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/*-----------------------------------------------------------*/
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/* Get current value of DPR and ADB registers */
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portSTACK_TYPE Get_DPR_ADB_bank(void);
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/* Get current value of DTB and PCB registers */
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portSTACK_TYPE Get_DTB_PCB_bank(void);
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/* Get current register pointer */
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portCHAR Get_RP(void);
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/*-----------------------------------------------------------*/
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/*
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* Macro to save a task context to the task stack. This macro copies the
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* saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system
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* stack to task stack pointed by user stack pointer ( USP for SMALL and
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* MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ),
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* then it pushes the general purpose registers RW0-RW7 on to the task
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* stack. Finally the resultant stack pointer value is saved into the
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* task control block so it can be retrieved the next time the task
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* executes.
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*/
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#if (MEMMODEL == SMALL || MEMMODEL == MEDIUM)
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#define portSAVE_CONTEXT() \
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{ __asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" MOVW A, _pxCurrentTCB "); \
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__asm(" MOVW A, SP "); \
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__asm(" SWAPW "); \
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__asm(" MOVW @AL, AH "); \
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__asm(" OR CCR,#H'20 "); \
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}
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/*
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* Macro to restore a task context from the task stack. This is effecti-
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* vely the reverse of portSAVE_CONTEXT(). First the stack pointer value
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* (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and
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* LARGE memory model ) is loaded from the task control block. Next the
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* value of all the general purpose registers RW0-RW7 is retrieved. Fina-
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* lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of
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* the task to be executed upon RETI from user stack to system stack.
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*/
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#define portRESTORE_CONTEXT() \
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{ __asm(" MOVW A, _pxCurrentTCB "); \
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__asm(" MOVW A, @A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" MOVW SP, A "); \
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__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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}
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#elif (MEMMODEL == COMPACT || MEMMODEL == LARGE)
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#define portSAVE_CONTEXT() \
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{ __asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" MOVL A, _pxCurrentTCB "); \
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__asm(" MOVL RL2, A "); \
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__asm(" MOVW A, SP "); \
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__asm(" MOVW @RL2+0, A "); \
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__asm(" MOV A, USB "); \
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__asm(" MOV @RL2+2, A "); \
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}
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#define portRESTORE_CONTEXT() \
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{ __asm(" MOVL A, _pxCurrentTCB "); \
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__asm(" MOVL RL2, A "); \
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__asm(" MOVW A, @RL2+0 "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" MOVW SP, A "); \
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__asm(" MOV A, @RL2+2 "); \
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__asm(" MOV USB, A "); \
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__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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}
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#endif
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/*-----------------------------------------------------------*/
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/*
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* The below are the functions for getting the current value of DPR:ADB,
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* DTB:PCB bank registers
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*/
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#pragma asm
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.GLOBAL _Get_DPR_ADB_bank
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.GLOBAL _Get_DTB_PCB_bank
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.GLOBAL _Get_RP
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.SECTION CODE, CODE, ALIGN=1
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_Get_DPR_ADB_bank:
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MOV A, DPR
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SWAP
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MOV A, ADB
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ORW A
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#if MEMMODEL == MEDIUM || MEMMODEL == LARGE
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RETP
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#elif MEMMODEL == SMALL || MEMMODEL == COMPACT
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RET
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#endif
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_Get_DTB_PCB_bank:
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MOV A, DTB
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SWAP
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MOV A, PCB
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ORW A
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#if MEMMODEL == MEDIUM || MEMMODEL == LARGE
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RETP
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#elif MEMMODEL == SMALL || MEMMODEL == COMPACT
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RET
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#endif
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_Get_RP:
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PUSHW PS
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POPW A
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SWAP
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ANDW A,#0x1f
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#if MEMMODEL == MEDIUM || MEMMODEL == LARGE
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RETP
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#elif MEMMODEL == SMALL || MEMMODEL == COMPACT
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RET
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#endif
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#pragma endasm
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/*-----------------------------------------------------------*/
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/*
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* Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but
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* can be done using any given RLT.
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*/
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static void prvSetupRLT0Interrupt( void );
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if a call to
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* portSAVE_CONTEXT had been called.
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*
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* See the header file portable.h.
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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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/* Place a few bytes of known values on the bottom of the stack.
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This is just useful for debugging. */
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*pxTopOfStack = 0x1111;
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pxTopOfStack--;
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*pxTopOfStack = 0x2222;
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pxTopOfStack--;
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*pxTopOfStack = 0x3333;
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pxTopOfStack--;
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/* Once the task is called the called would push the pointer to the
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parameter on to the stack. Hence here the pointer would be copied first
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to the stack. In case of COMPACT or LARGE memory model such pointer
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would be 24 bit and in case of SMALL or MEDIUM memory model such pointer
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would be 16 bit */
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#if MEMMODEL == COMPACT || MEMMODEL == LARGE
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*pxTopOfStack = (portSTACK_TYPE)((portLONG)(pvParameters)>>16);
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pxTopOfStack--;
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#endif
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*pxTopOfStack = (portSTACK_TYPE)(pvParameters);
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pxTopOfStack--;
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/* This is redundant push to the stack. This is required in order to introduce
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an offset so that the task accesses a parameter correctly that is passed on to
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the task stack. */
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#if MEMMODEL == MEDIUM || MEMMODEL == LARGE
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*pxTopOfStack = (Get_DTB_PCB_bank() & 0xff00) |
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(((portLONG)(pxCode) >>16) & 0xff);
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pxTopOfStack--;
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#endif
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/* This is redundant push to the stack. This is required in order to introduce
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an offset so that the task accesses a parameter correctly that is passed on to
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the task stack. */
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*pxTopOfStack = ( portSTACK_TYPE )(pxCode);
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pxTopOfStack--;
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/* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */
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*pxTopOfStack = 0xE0C0;
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pxTopOfStack--;
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/* PC */
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*pxTopOfStack = ( portSTACK_TYPE )(pxCode);
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pxTopOfStack--;
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/* DTB | PCB */
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#if MEMMODEL == SMALL || MEMMODEL == COMPACT
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*pxTopOfStack = Get_DTB_PCB_bank();
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pxTopOfStack--;
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#endif
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/* DTB | PCB, in case of MEDIUM or LARGE memory model PCB would be used
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along with PC to indicate the start address of the functiom */
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#if MEMMODEL == MEDIUM || MEMMODEL == LARGE
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|
*pxTopOfStack = (Get_DTB_PCB_bank() & 0xff00) |
|
||
|
|
(((portLONG)(pxCode) >>16) & 0xff);
|
||
|
|
pxTopOfStack--;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* DPR | ADB */
|
||
|
|
*pxTopOfStack = Get_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;
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
/*
|
||
|
|
* Setup RLT0 to generate a tick interrupt.
|
||
|
|
*/
|
||
|
|
static void prvSetupRLT0Interrupt( void )
|
||
|
|
{
|
||
|
|
/* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */
|
||
|
|
TMRLR0 = 0x88B7;
|
||
|
|
|
||
|
|
/* prescaler 1:16, reload, interrupt enable, count enable, trigger */
|
||
|
|
TMCSR0 = 0x041B;
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
/*
|
||
|
|
* Start the scheduler.
|
||
|
|
*/
|
||
|
|
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 )
|
||
|
|
{
|
||
|
|
/* It is unlikely that the AVR port will get stopped. If required simply
|
||
|
|
disable the tick interrupt here. */
|
||
|
|
}
|
||
|
|
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
/*
|
||
|
|
* 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 would be saved by PortSAVE_CONTEXT(). 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
|
||
|
|
* would be saved by PortSAVE_CONTEXT(). The context is switched and then
|
||
|
|
* the context of the new task is restored saved.
|
||
|
|
*/
|
||
|
|
__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();
|
||
|
|
}
|