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534 lines
18 KiB
C
534 lines
18 KiB
C
/*
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FreeRTOS V7.0.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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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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>>>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 obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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#include "FreeRTOS.h"
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#include "task.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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/*
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* Get current value of DPR and ADB registers
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*/
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portSTACK_TYPE xGet_DPR_ADB_bank( void );
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/*
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* Get current value of DTB and PCB registers
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*/
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portSTACK_TYPE xGet_DTB_PCB_bank( void );
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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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* 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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/*
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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( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) )
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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 SAVE_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( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
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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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* Functions for obtaining the current value of DPR:ADB, DTB:PCB bank registers
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*/
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#pragma asm
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.GLOBAL _xGet_DPR_ADB_bank
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.GLOBAL _xGet_DTB_PCB_bank
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.SECTION CODE, CODE, ALIGN=1
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_xGet_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 configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
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RETP
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#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
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RET
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#endif
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_xGet_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 configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
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RETP
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#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
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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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* 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 task would push the pointer to the
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parameter onto the stack. Hence here the pointer would be copied to the stack
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first. When using the COMPACT or LARGE memory model the pointer would be 24
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bits, and when using the SMALL or MEDIUM memory model the pointer would be 16
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bits. */
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#if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
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{
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*pxTopOfStack = ( portSTACK_TYPE ) ( ( unsigned long ) ( pvParameters ) >> 16 );
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pxTopOfStack--;
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}
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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( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
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{
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*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
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pxTopOfStack--;
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}
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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 the task correctly accesses the parameter passed on 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 configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
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{
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*pxTopOfStack = xGet_DTB_PCB_bank();
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pxTopOfStack--;
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}
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#endif
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/* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used
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along with PC to indicate the start address of the function. */
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#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
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{
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*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
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pxTopOfStack--;
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}
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#endif
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/* DPR | ADB */
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*pxTopOfStack = xGet_DPR_ADB_bank();
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pxTopOfStack--;
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/* AL */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x9999;
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pxTopOfStack--;
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/* AH */
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*pxTopOfStack = ( portSTACK_TYPE ) 0xAAAA;
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pxTopOfStack--;
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/* Next the general purpose registers. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x7777; /* RW7 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x6666; /* RW6 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x5555; /* RW5 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x4444; /* RW4 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x3333; /* RW3 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x2222; /* RW2 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1111; /* RW1 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x8888; /* RW0 */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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static void prvSetupRLT0Interrupt( void )
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{
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/* The peripheral clock divided by 16 is used by the timer. */
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const unsigned short usReloadValue = ( unsigned short ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL );
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/* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */
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TMRLR0 = usReloadValue;
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/* prescaler 1:16, reload, interrupt enable, count enable, trigger */
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TMCSR0 = 0x041B;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Setup the hardware to generate the tick. */
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prvSetupRLT0Interrupt();
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/* Restore the context of the first task that is going to run. */
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portRESTORE_CONTEXT();
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/* Simulate a function call end as generated by the compiler. We will now
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jump to the start of the task the context of which we have just restored. */
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__asm(" reti ");
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/* Should not get here. */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented - unlikely to ever be required as there is nothing to
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return to. */
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}
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/*-----------------------------------------------------------*/
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/*
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* The interrupt service routine used depends on whether the pre-emptive
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* scheduler is being used or not.
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*/
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#if configUSE_PREEMPTION == 1
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/*
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* Tick ISR for preemptive scheduler. We can use a __nosavereg attribute
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* as the context is to be saved by the portSAVE_CONTEXT() macro, not the
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* compiler generated code. The tick count is incremented after the context
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* is saved.
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*/
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__nosavereg __interrupt void prvRLT0_TICKISR( void )
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{
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/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
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__DI();
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/* Save the context of the interrupted task. */
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portSAVE_CONTEXT();
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/* Enable interrupts */
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__EI();
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/* Clear RLT0 interrupt flag */
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TMCSR0_UF = 0;
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/* Increment the tick count then switch to the highest priority task
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that is ready to run. */
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vTaskIncrementTick();
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vTaskSwitchContext();
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/* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */
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__DI();
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/* Restore the context of the new task. */
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portRESTORE_CONTEXT();
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/* Enable interrupts */
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__EI();
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}
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#else
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/*
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* Tick ISR for the cooperative scheduler. All this does is increment the
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* tick count. We don't need to switch context, this can only be done by
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* manual calls to taskYIELD();
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*/
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__interrupt void prvRLT0_TICKISR( void )
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{
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/* Clear RLT0 interrupt flag */
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TMCSR0_UF = 0;
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vTaskIncrementTick();
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}
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#endif
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. We can use a __nosavereg attribute as the context
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* is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated
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* code.
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*/
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__nosavereg __interrupt void vPortYield( void )
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{
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/* Save the context of the interrupted task. */
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portSAVE_CONTEXT();
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/* 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();
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|