;/* ; FreeRTOS.org V5.2.0 - Copyright (C) 2003-2009 Richard Barry. ; ; This file is part of the FreeRTOS.org distribution. ; ; FreeRTOS.org 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. ; ; FreeRTOS.org is distributed in the hope that it will be useful, but WITHOUT ; ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or ; FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for ; more details. ; ; You should have received a copy of the GNU General Public License along ; with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 ; Temple Place, Suite 330, Boston, MA 02111-1307 USA. ; ; A special exception to the GPL is included to allow you to distribute a ; combined work that includes FreeRTOS.org without being obliged to provide ; the source code for any proprietary components. See the licensing section ; of http://www.FreeRTOS.org for full details. ; ; ; *************************************************************************** ; * * ; * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * ; * * ; * This is a concise, step by step, 'hands on' guide that describes both * ; * general multitasking concepts and FreeRTOS specifics. It presents and * ; * explains numerous examples that are written using the FreeRTOS API. * ; * Full source code for all the examples is provided in an accompanying * ; * .zip file. * ; * * ; *************************************************************************** ; ; 1 tab == 4 spaces! ; ; Please ensure to read the configuration and relevant port sections of the ; online documentation. ; ; http://www.FreeRTOS.org - Documentation, latest information, license and ; contact details. ; ; http://www.SafeRTOS.com - A version that is certified for use in safety ; critical systems. ; ; http://www.OpenRTOS.com - Commercial support, development, porting, ; licensing and training services. ;*/ #include ; Declare all extern symbols here - including any ISRs that are referenced in ; the vector table. ; ISR functions ; ------------- EXTERN SIG_OUTPUT_COMPARE1A EXTERN SIG_UART_RECV EXTERN SIG_UART_DATA ; Functions used by scheduler ; --------------------------- EXTERN vTaskSwitchContext EXTERN pxCurrentTCB EXTERN vTaskIncrementTick EXTERN uxCriticalNesting ; Functions implemented in this file ; ---------------------------------- PUBLIC vPortYield PUBLIC vPortYieldFromTick PUBLIC vPortStart ; Interrupt vector table. ; ----------------------- ; ; For simplicity the RTOS tick interrupt routine uses the __task keyword. ; As the IAR compiler does not permit a function to be declared using both ; __task and __interrupt, the use of __task necessitates that the interrupt ; vector table be setup manually. ; ; To write an ISR, implement the ISR function using the __interrupt keyword ; but do not install the interrupt using the "#pragma vector=ABC" method. ; Instead manually place the name of the ISR in the vector table using an ; ORG and jmp instruction as demonstrated below. ; You will also have to add an EXTERN statement at the top of the file. ASEG ORG TIMER1_COMPA_vect ; Vector address jmp SIG_OUTPUT_COMPARE1A ; ISR ORG USART_RXC_vect ; Vector address jmp SIG_UART_RECV ; ISR ORG USART_UDRE_vect ; Vector address jmp SIG_UART_DATA ; ISR RSEG CODE ; Saving and Restoring a Task Context and Task Switching ; ------------------------------------------------------ ; ; The IAR compiler does not fully support inline assembler, so saving and ; restoring a task context has to be written in an asm file. ; ; vPortYield() and vPortYieldFromTick() are usually written in C. Doing ; so in this case would required calls to be made to portSAVE_CONTEXT() and ; portRESTORE_CONTEXT(). This is dis-advantageous as the context switch ; function would require two extra jump and return instructions over the ; WinAVR equivalent. ; ; To avoid this I have opted to implement both vPortYield() and ; vPortYieldFromTick() in this assembly file. For convenience ; portSAVE_CONTEXT and portRESTORE_CONTEXT are implemented as macros. portSAVE_CONTEXT MACRO st -y, r0 ; First save the r0 register - we need to use this. in r0, SREG ; Obtain the SREG value so we can disable interrupts... cli ; ... as soon as possible. st -y, r0 ; Store the SREG as it was before we disabled interrupts. in r0, SPL ; Next store the hardware stack pointer. The IAR... st -y, r0 ; ... compiler uses the hardware stack as a call stack ... in r0, SPH ; ... only. st -y, r0 st -y, r1 ; Now store the rest of the registers. Dont store the ... st -y, r2 ; ... the Y register here as it is used as the software st -y, r3 ; stack pointer and will get saved into the TCB. st -y, r4 st -y, r5 st -y, r6 st -y, r7 st -y, r8 st -y, r9 st -y, r10 st -y, r11 st -y, r12 st -y, r13 st -y, r14 st -y, r15 st -y, r16 st -y, r17 st -y, r18 st -y, r19 st -y, r20 st -y, r21 st -y, r22 st -y, r23 st -y, r24 st -y, r25 st -y, r26 st -y, r27 st -y, r30 st -y, r31 lds r0, uxCriticalNesting st -y, r0 ; Store the critical nesting counter. lds r26, pxCurrentTCB ; Finally save the software stack pointer (Y ... lds r27, pxCurrentTCB + 1 ; ... register) into the TCB. st x+, r28 st x+, r29 ENDM portRESTORE_CONTEXT MACRO lds r26, pxCurrentTCB lds r27, pxCurrentTCB + 1 ; Restore the software stack pointer from ... ld r28, x+ ; the TCB into the software stack pointer (... ld r29, x+ ; ... the Y register). ld r0, y+ sts uxCriticalNesting, r0 ld r31, y+ ; Restore the registers down to R0. The Y ld r30, y+ ; register is missing from this list as it ld r27, y+ ; has already been restored. ld r26, y+ ld r25, y+ ld r24, y+ ld r23, y+ ld r22, y+ ld r21, y+ ld r20, y+ ld r19, y+ ld r18, y+ ld r17, y+ ld r16, y+ ld r15, y+ ld r14, y+ ld r13, y+ ld r12, y+ ld r11, y+ ld r10, y+ ld r9, y+ ld r8, y+ ld r7, y+ ld r6, y+ ld r5, y+ ld r4, y+ ld r3, y+ ld r2, y+ ld r1, y+ ld r0, y+ ; The next thing on the stack is the ... out SPH, r0 ; ... hardware stack pointer. ld r0, y+ out SPL, r0 ld r0, y+ ; Next there is the SREG register. out SREG, r0 ld r0, y+ ; Finally we have finished with r0, so restore r0. ENDM ; vPortYield() and vPortYieldFromTick() ; ------------------------------------- ; ; Manual and preemptive context switch functions respectively. ; The IAR compiler does not fully support inline assembler, ; so these are implemented here rather than the more usually ; place of within port.c. vPortYield: portSAVE_CONTEXT ; Save the context of the current task. call vTaskSwitchContext ; Call the scheduler. portRESTORE_CONTEXT ; Restore the context of whichever task the ... ret ; ... scheduler decided should run. vPortYieldFromTick: portSAVE_CONTEXT ; Save the context of the current task. call vTaskIncrementTick ; Call the timer tick function. call vTaskSwitchContext ; Call the scheduler. portRESTORE_CONTEXT ; Restore the context of whichever task the ... ret ; ... scheduler decided should run. ; vPortStart() ; ------------ ; ; Again due to the lack of inline assembler, this is required ; to get access to the portRESTORE_CONTEXT macro. vPortStart: portRESTORE_CONTEXT ret ; Just a filler for unused interrupt vectors. vNoISR: reti END