| /* |
| * FreeRTOS SMP Kernel V202110.00 |
| * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of |
| * this software and associated documentation files (the "Software"), to deal in |
| * the Software without restriction, including without limitation the rights to |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of |
| * the Software, and to permit persons to whom the Software is furnished to do so, |
| * subject to the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be included in all |
| * copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
| * |
| * https://www.FreeRTOS.org |
| * https://github.com/FreeRTOS |
| * |
| * 1 tab == 4 spaces! |
| */ |
| |
| /* Scheduler includes. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* The critical nesting value is initialised to a non zero value to ensure |
| interrupts don't accidentally become enabled before the scheduler is started. */ |
| #define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 ) |
| |
| /* Initial PSW value allocated to a newly created task. |
| * 1100011000000000 |
| * ||||||||-------------- Fill byte |
| * |||||||--------------- Carry Flag cleared |
| * |||||----------------- In-service priority Flags set to low level |
| * ||||------------------ Register bank Select 0 Flag cleared |
| * |||------------------- Auxiliary Carry Flag cleared |
| * ||-------------------- Register bank Select 1 Flag cleared |
| * |--------------------- Zero Flag set |
| * ---------------------- Global Interrupt Flag set (enabled) |
| */ |
| #define portPSW ( 0xc6UL ) |
| |
| /* The address of the pxCurrentTCB variable, but don't know or need to know its |
| type. */ |
| typedef void TCB_t; |
| extern volatile TCB_t * volatile pxCurrentTCB; |
| |
| /* Each task maintains a count of the critical section nesting depth. Each time |
| a critical section is entered the count is incremented. Each time a critical |
| section is exited the count is decremented - with interrupts only being |
| re-enabled if the count is zero. |
| |
| usCriticalNesting will get set to zero when the scheduler starts, but must |
| not be initialised to zero as that could cause problems during the startup |
| sequence. */ |
| volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Sets up the periodic ISR used for the RTOS tick using the interval timer. |
| * The application writer can define configSETUP_TICK_INTERRUPT() (in |
| * FreeRTOSConfig.h) such that their own tick interrupt configuration is used |
| * in place of prvSetupTimerInterrupt(). |
| */ |
| static void prvSetupTimerInterrupt( void ); |
| #ifndef configSETUP_TICK_INTERRUPT |
| /* The user has not provided their own tick interrupt configuration so use |
| the definition in this file (which uses the interval timer). */ |
| #define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt() |
| #endif /* configSETUP_TICK_INTERRUPT */ |
| |
| /* |
| * Defined in portasm.s87, this function starts the scheduler by loading the |
| * context of the first task to run. |
| */ |
| extern void vPortStartFirstTask( void ); |
| |
| /* |
| * Used to catch tasks that attempt to return from their implementing function. |
| */ |
| static void prvTaskExitError( void ); |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Initialise the stack of a task to look exactly as if a call to |
| * portSAVE_CONTEXT had been called. |
| * |
| * See the header file portable.h. |
| */ |
| StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) |
| { |
| uint32_t *pulLocal; |
| |
| /* With large code and large data sizeof( StackType_t ) == 2, and |
| sizeof( StackType_t * ) == 4. With small code and small data |
| sizeof( StackType_t ) == 2 and sizeof( StackType_t * ) == 2. */ |
| |
| #if __DATA_MODEL__ == __DATA_MODEL_FAR__ |
| { |
| /* Parameters are passed in on the stack, and written using a 32-bit value |
| hence a space is left for the second two bytes. */ |
| pxTopOfStack--; |
| |
| /* Write in the parameter value. */ |
| pulLocal = ( uint32_t * ) pxTopOfStack; |
| *pulLocal = ( uint32_t ) pvParameters; |
| pxTopOfStack--; |
| |
| /* The return address, leaving space for the first two bytes of the |
| 32-bit value. See the comments above the prvTaskExitError() prototype |
| at the top of this file. */ |
| pxTopOfStack--; |
| pulLocal = ( uint32_t * ) pxTopOfStack; |
| *pulLocal = ( uint32_t ) prvTaskExitError; |
| pxTopOfStack--; |
| |
| /* The start address / PSW value is also written in as a 32-bit value, |
| so leave a space for the second two bytes. */ |
| pxTopOfStack--; |
| |
| /* Task function start address combined with the PSW. */ |
| pulLocal = ( uint32_t * ) pxTopOfStack; |
| *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); |
| pxTopOfStack--; |
| |
| /* An initial value for the AX register. */ |
| *pxTopOfStack = ( StackType_t ) 0x1111; |
| pxTopOfStack--; |
| } |
| #else |
| { |
| /* The return address, leaving space for the first two bytes of the |
| 32-bit value. See the comments above the prvTaskExitError() prototype |
| at the top of this file. */ |
| pxTopOfStack--; |
| pulLocal = ( uint32_t * ) pxTopOfStack; |
| *pulLocal = ( uint32_t ) prvTaskExitError; |
| pxTopOfStack--; |
| |
| /* Task function. Again as it is written as a 32-bit value a space is |
| left on the stack for the second two bytes. */ |
| pxTopOfStack--; |
| |
| /* Task function start address combined with the PSW. */ |
| pulLocal = ( uint32_t * ) pxTopOfStack; |
| *pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) ); |
| pxTopOfStack--; |
| |
| /* The parameter is passed in AX. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; |
| pxTopOfStack--; |
| } |
| #endif |
| |
| /* An initial value for the HL register. */ |
| *pxTopOfStack = ( StackType_t ) 0x2222; |
| pxTopOfStack--; |
| |
| /* CS and ES registers. */ |
| *pxTopOfStack = ( StackType_t ) 0x0F00; |
| pxTopOfStack--; |
| |
| /* The remaining general purpose registers DE and BC */ |
| *pxTopOfStack = ( StackType_t ) 0xDEDE; |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) 0xBCBC; |
| pxTopOfStack--; |
| |
| /* Finally the critical section nesting count is set to zero when the task |
| first starts. */ |
| *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; |
| |
| /* Return a pointer to the top of the stack that has been generated so it |
| can be stored in the task control block for the task. */ |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvTaskExitError( void ) |
| { |
| /* A function that implements a task must not exit or attempt to return to |
| its caller as there is nothing to return to. If a task wants to exit it |
| should instead call vTaskDelete( NULL ). |
| |
| Artificially force an assert() to be triggered if configASSERT() is |
| defined, then stop here so application writers can catch the error. */ |
| configASSERT( usCriticalNesting == ~0U ); |
| portDISABLE_INTERRUPTS(); |
| for( ;; ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) |
| { |
| /* Setup the hardware to generate the tick. Interrupts are disabled when |
| this function is called. */ |
| configSETUP_TICK_INTERRUPT(); |
| |
| /* Restore the context of the first task that is going to run. */ |
| vPortStartFirstTask(); |
| |
| /* Execution should not reach here as the tasks are now running! |
| prvSetupTimerInterrupt() is called here to prevent the compiler outputting |
| a warning about a statically declared function not being referenced in the |
| case that the application writer has provided their own tick interrupt |
| configuration routine (and defined configSETUP_TICK_INTERRUPT() such that |
| their own routine will be called in place of prvSetupTimerInterrupt()). */ |
| prvSetupTimerInterrupt(); |
| return pdTRUE; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* It is unlikely that the RL78 port will get stopped. */ |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvSetupTimerInterrupt( void ) |
| { |
| const uint16_t usClockHz = 15000UL; /* Internal clock. */ |
| const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL; |
| |
| /* Use the internal 15K clock. */ |
| OSMC = ( uint8_t ) 0x16; |
| |
| #ifdef RTCEN |
| { |
| /* Supply the interval timer clock. */ |
| RTCEN = ( uint8_t ) 1U; |
| |
| /* Disable INTIT interrupt. */ |
| ITMK = ( uint8_t ) 1; |
| |
| /* Disable ITMC operation. */ |
| ITMC = ( uint8_t ) 0x0000; |
| |
| /* Clear INIT interrupt. */ |
| ITIF = ( uint8_t ) 0; |
| |
| /* Set interval and enable interrupt operation. */ |
| ITMC = usCompareMatch | 0x8000U; |
| |
| /* Enable INTIT interrupt. */ |
| ITMK = ( uint8_t ) 0; |
| } |
| #endif |
| |
| #ifdef TMKAEN |
| { |
| /* Supply the interval timer clock. */ |
| TMKAEN = ( uint8_t ) 1U; |
| |
| /* Disable INTIT interrupt. */ |
| TMKAMK = ( uint8_t ) 1; |
| |
| /* Disable ITMC operation. */ |
| ITMC = ( uint8_t ) 0x0000; |
| |
| /* Clear INIT interrupt. */ |
| TMKAIF = ( uint8_t ) 0; |
| |
| /* Set interval and enable interrupt operation. */ |
| ITMC = usCompareMatch | 0x8000U; |
| |
| /* Enable INTIT interrupt. */ |
| TMKAMK = ( uint8_t ) 0; |
| } |
| #endif |
| } |
| /*-----------------------------------------------------------*/ |
| |