/* | |
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
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 on the following | |
link: http://www.freertos.org/a00114.html | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that is more than just the market leader, it * | |
* is the industry's de facto standard. * | |
* * | |
* Help yourself get started quickly while simultaneously helping * | |
* to support the FreeRTOS project by purchasing a FreeRTOS * | |
* tutorial book, reference manual, or both: * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. | |
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. | |
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and commercial 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" | |
/* 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. | |
* 11000110 | |
* ||||||||-------------- 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 ) | |
/* 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. | |
*/ | |
__attribute__((weak)) void vApplicationSetupTimerInterrupt( void ); | |
/* | |
* Starts the scheduler by loading the context of the first task to run. | |
* (defined in portasm.S). | |
*/ | |
extern void vPortStartFirstTask( 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; | |
/* Stack type and pointers to the stack type are both 2 bytes. */ | |
/* Parameters are passed in on the stack, and written using a 32bit value | |
hence a space is left for the second two bytes. */ | |
pxTopOfStack--; | |
/* Write in the parameter value. */ | |
pulLocal = ( uint32_t * ) pxTopOfStack; | |
*pulLocal = ( StackType_t ) pvParameters; | |
pxTopOfStack--; | |
/* The return address, leaving space for the first two bytes of the | |
32-bit value. */ | |
pxTopOfStack--; | |
pulLocal = ( uint32_t * ) pxTopOfStack; | |
*pulLocal = ( uint32_t ) 0; | |
pxTopOfStack--; | |
/* The start address / PSW value is also written in as a 32bit 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--; | |
/* 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 bank 0 (DE and BC) and the other | |
two register banks...register bank 3 is dedicated for use by interrupts so | |
is not saved as part of the task context. */ | |
pxTopOfStack -= 10; | |
/* 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 beene generated so it | |
can be stored in the task control block for the task. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
/* Setup the hardware to generate the tick. Interrupts are disabled when | |
this function is called. */ | |
vApplicationSetupTimerInterrupt(); | |
/* Restore the context of the first task that is going to run. */ | |
vPortStartFirstTask(); | |
/* Execution should not reach here as the tasks are now running! */ | |
return pdTRUE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* It is unlikely that the RL78 port will get stopped. */ | |
} | |
/*-----------------------------------------------------------*/ | |
__attribute__((weak)) void vApplicationSetupTimerInterrupt( void ) | |
{ | |
const uint16_t usClockHz = 15000UL; /* Internal clock. */ | |
const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL; | |
/* Use the internal 15K clock. */ | |
OSMC = ( unsigned char ) 0x16; | |
#ifdef RTCEN | |
{ | |
/* Supply the interval timer clock. */ | |
RTCEN = ( unsigned char ) 1U; | |
/* Disable INTIT interrupt. */ | |
ITMK = ( unsigned char ) 1; | |
/* Disable ITMC operation. */ | |
ITMC = ( unsigned char ) 0x0000; | |
/* Clear INIT interrupt. */ | |
ITIF = ( unsigned char ) 0; | |
/* Set interval and enable interrupt operation. */ | |
ITMC = usCompareMatch | 0x8000U; | |
/* Enable INTIT interrupt. */ | |
ITMK = ( unsigned char ) 0; | |
} | |
#endif | |
#ifdef TMKAEN | |
{ | |
/* Supply the interval timer clock. */ | |
TMKAEN = ( unsigned char ) 1U; | |
/* Disable INTIT interrupt. */ | |
TMKAMK = ( unsigned char ) 1; | |
/* Disable ITMC operation. */ | |
ITMC = ( unsigned char ) 0x0000; | |
/* Clear INIT interrupt. */ | |
TMKAIF = ( unsigned char ) 0; | |
/* Set interval and enable interrupt operation. */ | |
ITMC = usCompareMatch | 0x8000U; | |
/* Enable INTIT interrupt. */ | |
TMKAMK = ( unsigned char ) 0; | |
} | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |