/* 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! */ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the H8S port. *----------------------------------------------------------*/ /*-----------------------------------------------------------*/ /* When the task starts interrupts should be enabled. */ #define portINITIAL_CCR ( ( StackType_t ) 0x00 ) /* Hardware specific constants used to generate the RTOS tick from the TPU. */ #define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 ) #define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 ) #define portCLOCK_DIV ( ( uint32_t ) 64 ) #define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 ) #define portTIMER_CHANNEL ( ( uint8_t ) 0x02 ) #define portMSTP13 ( ( uint16_t ) 0x2000 ) /* * Setup TPU channel one for the RTOS tick at the requested frequency. */ static void prvSetupTimerInterrupt( void ); /* * The ISR used by portYIELD(). This is installed as a trap handler. */ void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) ); /*-----------------------------------------------------------*/ /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) { uint32_t ulValue; /* This requires an even address. */ ulValue = ( uint32_t ) pxTopOfStack; if( ulValue & 1UL ) { pxTopOfStack = pxTopOfStack - 1; } /* Place a few bytes of known values on the bottom of the stack. This is just useful for debugging. */ pxTopOfStack--; *pxTopOfStack = 0xaa; pxTopOfStack--; *pxTopOfStack = 0xbb; pxTopOfStack--; *pxTopOfStack = 0xcc; pxTopOfStack--; *pxTopOfStack = 0xdd; /* The initial stack mimics an interrupt stack. First there is the program counter (24 bits). */ ulValue = ( uint32_t ) pxCode; pxTopOfStack--; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); /* Followed by the CCR. */ pxTopOfStack--; *pxTopOfStack = portINITIAL_CCR; /* Next all the general purpose registers - with the parameters being passed in ER0. The parameter order must match that used by the compiler when the "saveall" function attribute is used. */ /* ER6 */ pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; /* ER0 */ ulValue = ( uint32_t ) pvParameters; pxTopOfStack--; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); /* ER1 */ pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; /* ER2 */ pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; /* ER3 */ pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; /* ER4 */ pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; /* ER5 */ pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void * pxCurrentTCB; /* Setup the hardware to generate the tick. */ prvSetupTimerInterrupt(); /* Restore the context of the first task that is going to run. This mirrors the function epilogue code generated by the compiler when the "saveall" function attribute is used. */ asm volatile ( "MOV.L @_pxCurrentTCB, ER6 \n\t" "MOV.L @ER6, ER7 \n\t" "LDM.L @SP+, (ER4-ER5) \n\t" "LDM.L @SP+, (ER0-ER3) \n\t" "MOV.L @ER7+, ER6 \n\t" "RTE \n\t" ); ( void ) pxCurrentTCB; /* Should not get here. */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* It is unlikely that the h8 port will get stopped. */ } /*-----------------------------------------------------------*/ /* * Manual context switch. This is a trap handler. The "saveall" function * attribute is used so the context is saved by the compiler prologue. All * we have to do is save the stack pointer. */ void vPortYield( void ) { portSAVE_STACK_POINTER(); vTaskSwitchContext(); portRESTORE_STACK_POINTER(); } /*-----------------------------------------------------------*/ /* * The interrupt handler installed for the RTOS tick depends on whether the * preemptive or cooperative scheduler is being used. */ #if( configUSE_PREEMPTION == 1 ) /* * The preemptive scheduler is used so the ISR calls vTaskSwitchContext(). * The function prologue saves the context so all we have to do is save * the stack pointer. */ void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) ); void vTickISR( void ) { portSAVE_STACK_POINTER(); if( xTaskIncrementTick() != pdFALSE ) { vTaskSwitchContext(); } /* Clear the interrupt. */ TSR1 &= ~0x01; portRESTORE_STACK_POINTER(); } #else /* * The cooperative scheduler is being used so all we have to do is * periodically increment the tick. This can just be a normal ISR and * the "saveall" attribute is not required. */ void vTickISR( void ) __attribute__ ( ( interrupt_handler ) ); void vTickISR( void ) { xTaskIncrementTick(); /* Clear the interrupt. */ TSR1 &= ~0x01; } #endif /*-----------------------------------------------------------*/ /* * Setup timer 1 compare match to generate a tick interrupt. */ static void prvSetupTimerInterrupt( void ) { const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV; /* Turn the module on. */ MSTPCR &= ~portMSTP13; /* Configure timer 1. */ TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64; /* Configure the compare match value for a tick of configTICK_RATE_HZ. */ TGR1A = ulCompareMatch; /* Start the timer and enable the interrupt - we can do this here as interrupts are globally disabled when this function is called. */ TIER1 |= portTGRA_INTERRUPT_ENABLE; TSTR |= portTIMER_CHANNEL; } /*-----------------------------------------------------------*/