You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
311 lines
9.5 KiB
C
311 lines
9.5 KiB
C
/*
|
|
FreeRTOS V5.4.1 - Copyright (C) 2009 Real Time Engineers Ltd.
|
|
|
|
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 exception 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.
|
|
Alternative commercial license and support terms are also available upon
|
|
request. See the licensing section of http://www.FreeRTOS.org for full
|
|
license details.
|
|
|
|
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. See the GNU General Public License for
|
|
more details.
|
|
|
|
You should have received a copy of the GNU General Public License along
|
|
with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
|
|
Temple Place, Suite 330, Boston, MA 02111-1307 USA.
|
|
|
|
|
|
***************************************************************************
|
|
* *
|
|
* Looking for a quick start? Then check out the FreeRTOS eBook! *
|
|
* See http://www.FreeRTOS.org/Documentation for details *
|
|
* *
|
|
***************************************************************************
|
|
|
|
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.
|
|
*/
|
|
|
|
/*
|
|
Changes from V4.2.1
|
|
|
|
+ Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
|
|
*/
|
|
|
|
/*-----------------------------------------------------------
|
|
* Implementation of functions defined in portable.h for the PIC24 port.
|
|
*----------------------------------------------------------*/
|
|
|
|
/* Scheduler include files. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* Hardware specifics. */
|
|
#define portBIT_SET 1
|
|
#define portTIMER_PRESCALE 8
|
|
#define portINITIAL_SR 0
|
|
|
|
/* Defined for backward compatability with project created prior to
|
|
FreeRTOS.org V4.3.0. */
|
|
#ifndef configKERNEL_INTERRUPT_PRIORITY
|
|
#define configKERNEL_INTERRUPT_PRIORITY 1
|
|
#endif
|
|
|
|
/* The program counter is only 23 bits. */
|
|
#define portUNUSED_PR_BITS 0x7f
|
|
|
|
/* Records the nesting depth of calls to portENTER_CRITICAL(). */
|
|
unsigned portBASE_TYPE uxCriticalNesting = 0xef;
|
|
|
|
#if configKERNEL_INTERRUPT_PRIORITY != 1
|
|
#error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 )
|
|
#endif
|
|
|
|
#ifdef MPLAB_PIC24_PORT
|
|
|
|
#define portRESTORE_CONTEXT() \
|
|
asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
|
|
"MOV [W0], W15 \n" \
|
|
"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
|
|
"MOV W0, _uxCriticalNesting \n" \
|
|
"POP PSVPAG \n" \
|
|
"POP CORCON \n" \
|
|
"POP TBLPAG \n" \
|
|
"POP RCOUNT \n" /* Restore the registers from the stack. */ \
|
|
"POP W14 \n" \
|
|
"POP.D W12 \n" \
|
|
"POP.D W10 \n" \
|
|
"POP.D W8 \n" \
|
|
"POP.D W6 \n" \
|
|
"POP.D W4 \n" \
|
|
"POP.D W2 \n" \
|
|
"POP.D W0 \n" \
|
|
"POP SR " );
|
|
|
|
#endif /* MPLAB_PIC24_PORT */
|
|
|
|
#ifdef MPLAB_DSPIC_PORT
|
|
|
|
#define portRESTORE_CONTEXT() \
|
|
asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
|
|
"MOV [W0], W15 \n" \
|
|
"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
|
|
"MOV W0, _uxCriticalNesting \n" \
|
|
"POP PSVPAG \n" \
|
|
"POP CORCON \n" \
|
|
"POP DOENDH \n" \
|
|
"POP DOENDL \n" \
|
|
"POP DOSTARTH \n" \
|
|
"POP DOSTARTL \n" \
|
|
"POP DCOUNT \n" \
|
|
"POP ACCBU \n" \
|
|
"POP ACCBH \n" \
|
|
"POP ACCBL \n" \
|
|
"POP ACCAU \n" \
|
|
"POP ACCAH \n" \
|
|
"POP ACCAL \n" \
|
|
"POP TBLPAG \n" \
|
|
"POP RCOUNT \n" /* Restore the registers from the stack. */ \
|
|
"POP W14 \n" \
|
|
"POP.D W12 \n" \
|
|
"POP.D W10 \n" \
|
|
"POP.D W8 \n" \
|
|
"POP.D W6 \n" \
|
|
"POP.D W4 \n" \
|
|
"POP.D W2 \n" \
|
|
"POP.D W0 \n" \
|
|
"POP SR " );
|
|
|
|
#endif /* MPLAB_DSPIC_PORT */
|
|
|
|
/*
|
|
* Setup the timer used to generate the tick interrupt.
|
|
*/
|
|
static void prvSetupTimerInterrupt( void );
|
|
|
|
/*
|
|
* See header file for description.
|
|
*/
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
|
{
|
|
unsigned portSHORT usCode;
|
|
portBASE_TYPE i;
|
|
|
|
const portSTACK_TYPE xInitialStack[] =
|
|
{
|
|
0x1111, /* W1 */
|
|
0x2222, /* W2 */
|
|
0x3333, /* W3 */
|
|
0x4444, /* W4 */
|
|
0x5555, /* W5 */
|
|
0x6666, /* W6 */
|
|
0x7777, /* W7 */
|
|
0x8888, /* W8 */
|
|
0x9999, /* W9 */
|
|
0xaaaa, /* W10 */
|
|
0xbbbb, /* W11 */
|
|
0xcccc, /* W12 */
|
|
0xdddd, /* W13 */
|
|
0xeeee, /* W14 */
|
|
0xcdce, /* RCOUNT */
|
|
0xabac, /* TBLPAG */
|
|
|
|
/* dsPIC specific registers. */
|
|
#ifdef MPLAB_DSPIC_PORT
|
|
0x0202, /* ACCAL */
|
|
0x0303, /* ACCAH */
|
|
0x0404, /* ACCAU */
|
|
0x0505, /* ACCBL */
|
|
0x0606, /* ACCBH */
|
|
0x0707, /* ACCBU */
|
|
0x0808, /* DCOUNT */
|
|
0x090a, /* DOSTARTL */
|
|
0x1010, /* DOSTARTH */
|
|
0x1110, /* DOENDL */
|
|
0x1212, /* DOENDH */
|
|
#endif
|
|
};
|
|
|
|
/* Setup the stack as if a yield had occurred.
|
|
|
|
Save the low bytes of the program counter. */
|
|
usCode = ( unsigned portSHORT ) pxCode;
|
|
*pxTopOfStack = ( portSTACK_TYPE ) usCode;
|
|
pxTopOfStack++;
|
|
|
|
/* Save the high byte of the program counter. This will always be zero
|
|
here as it is passed in a 16bit pointer. If the address is greater than
|
|
16 bits then the pointer will point to a jump table. */
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0;
|
|
pxTopOfStack++;
|
|
|
|
/* Status register with interrupts enabled. */
|
|
*pxTopOfStack = portINITIAL_SR;
|
|
pxTopOfStack++;
|
|
|
|
/* Parameters are passed in W0. */
|
|
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
|
|
pxTopOfStack++;
|
|
|
|
for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ )
|
|
{
|
|
*pxTopOfStack = xInitialStack[ i ];
|
|
pxTopOfStack++;
|
|
}
|
|
|
|
*pxTopOfStack = CORCON;
|
|
pxTopOfStack++;
|
|
*pxTopOfStack = PSVPAG;
|
|
pxTopOfStack++;
|
|
|
|
/* Finally the critical nesting depth. */
|
|
*pxTopOfStack = 0x00;
|
|
pxTopOfStack++;
|
|
|
|
return pxTopOfStack;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portBASE_TYPE xPortStartScheduler( void )
|
|
{
|
|
/* Setup a timer for the tick ISR. */
|
|
prvSetupTimerInterrupt();
|
|
|
|
/* Restore the context of the first task to run. */
|
|
portRESTORE_CONTEXT();
|
|
|
|
/* Simulate the end of the yield function. */
|
|
asm volatile ( "return" );
|
|
|
|
/* Should not reach here. */
|
|
return pdTRUE;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
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(). */
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
/*
|
|
* Setup a timer for a regular tick.
|
|
*/
|
|
static void prvSetupTimerInterrupt( void )
|
|
{
|
|
const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ;
|
|
|
|
/* Prescale of 8. */
|
|
T1CON = 0;
|
|
TMR1 = 0;
|
|
|
|
PR1 = ( unsigned portSHORT ) ulCompareMatch;
|
|
|
|
/* Setup timer 1 interrupt priority. */
|
|
IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
|
|
|
|
/* Clear the interrupt as a starting condition. */
|
|
IFS0bits.T1IF = 0;
|
|
|
|
/* Enable the interrupt. */
|
|
IEC0bits.T1IE = 1;
|
|
|
|
/* Setup the prescale value. */
|
|
T1CONbits.TCKPS0 = 1;
|
|
T1CONbits.TCKPS1 = 0;
|
|
|
|
/* Start the timer. */
|
|
T1CONbits.TON = 1;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortEnterCritical( void )
|
|
{
|
|
portDISABLE_INTERRUPTS();
|
|
uxCriticalNesting++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortExitCritical( void )
|
|
{
|
|
uxCriticalNesting--;
|
|
if( uxCriticalNesting == 0 )
|
|
{
|
|
portENABLE_INTERRUPTS();
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void )
|
|
{
|
|
/* Clear the timer interrupt. */
|
|
IFS0bits.T1IF = 0;
|
|
|
|
vTaskIncrementTick();
|
|
|
|
#if configUSE_PREEMPTION == 1
|
|
portYIELD();
|
|
#endif
|
|
}
|