/* | |
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! | |
*/ | |
/*----------------------------------------------------------- | |
* Implementation of functions defined in portable.h for the SH2A port. | |
*----------------------------------------------------------*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Library includes. */ | |
#include "string.h" | |
/*-----------------------------------------------------------*/ | |
/* The SR assigned to a newly created task. The only important thing in this | |
value is for all interrupts to be enabled. */ | |
#define portINITIAL_SR ( 0UL ) | |
/* Dimensions the array into which the floating point context is saved. | |
Allocate enough space for FPR0 to FPR15, FPUL and FPSCR, each of which is 4 | |
bytes big. If this number is changed then the 72 in portasm.src also needs | |
changing. */ | |
#define portFLOP_REGISTERS_TO_STORE ( 18 ) | |
#define portFLOP_STORAGE_SIZE ( portFLOP_REGISTERS_TO_STORE * 4 ) | |
#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) | |
#error configSUPPORT_DYNAMIC_ALLOCATION must be 1 to use this port. | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* | |
* The TRAPA handler used to force a context switch. | |
*/ | |
void vPortYield( void ); | |
/* | |
* Function to start the first task executing - defined in portasm.src. | |
*/ | |
extern void vPortStartFirstTask( void ); | |
/* | |
* Obtains the current GBR value - defined in portasm.src. | |
*/ | |
extern uint32_t ulPortGetGBR( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* See header file for description. | |
*/ | |
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
{ | |
/* Mark the end of the stack - used for debugging only and can be removed. */ | |
*pxTopOfStack = 0x11111111UL; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22222222UL; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33333333UL; | |
pxTopOfStack--; | |
/* SR. */ | |
*pxTopOfStack = portINITIAL_SR; | |
pxTopOfStack--; | |
/* PC. */ | |
*pxTopOfStack = ( uint32_t ) pxCode; | |
pxTopOfStack--; | |
/* PR. */ | |
*pxTopOfStack = 15; | |
pxTopOfStack--; | |
/* 14. */ | |
*pxTopOfStack = 14; | |
pxTopOfStack--; | |
/* R13. */ | |
*pxTopOfStack = 13; | |
pxTopOfStack--; | |
/* R12. */ | |
*pxTopOfStack = 12; | |
pxTopOfStack--; | |
/* R11. */ | |
*pxTopOfStack = 11; | |
pxTopOfStack--; | |
/* R10. */ | |
*pxTopOfStack = 10; | |
pxTopOfStack--; | |
/* R9. */ | |
*pxTopOfStack = 9; | |
pxTopOfStack--; | |
/* R8. */ | |
*pxTopOfStack = 8; | |
pxTopOfStack--; | |
/* R7. */ | |
*pxTopOfStack = 7; | |
pxTopOfStack--; | |
/* R6. */ | |
*pxTopOfStack = 6; | |
pxTopOfStack--; | |
/* R5. */ | |
*pxTopOfStack = 5; | |
pxTopOfStack--; | |
/* R4. */ | |
*pxTopOfStack = ( uint32_t ) pvParameters; | |
pxTopOfStack--; | |
/* R3. */ | |
*pxTopOfStack = 3; | |
pxTopOfStack--; | |
/* R2. */ | |
*pxTopOfStack = 2; | |
pxTopOfStack--; | |
/* R1. */ | |
*pxTopOfStack = 1; | |
pxTopOfStack--; | |
/* R0 */ | |
*pxTopOfStack = 0; | |
pxTopOfStack--; | |
/* MACL. */ | |
*pxTopOfStack = 16; | |
pxTopOfStack--; | |
/* MACH. */ | |
*pxTopOfStack = 17; | |
pxTopOfStack--; | |
/* GBR. */ | |
*pxTopOfStack = ulPortGetGBR(); | |
/* GBR = global base register. | |
VBR = vector base register. | |
TBR = jump table base register. | |
R15 is the stack pointer. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortStartScheduler( void ) | |
{ | |
extern void vApplicationSetupTimerInterrupt( void ); | |
/* Call an application function to set up the timer that will generate the | |
tick interrupt. This way the application can decide which peripheral to | |
use. A demo application is provided to show a suitable example. */ | |
vApplicationSetupTimerInterrupt(); | |
/* Start the first task. This will only restore the standard registers and | |
not the flop registers. This does not really matter though because the only | |
flop register that is initialised to a particular value is fpscr, and it is | |
only initialised to the current value, which will still be the current value | |
when the first task starts executing. */ | |
trapa( portSTART_SCHEDULER_TRAP_NO ); | |
/* Should not get here. */ | |
return pdFAIL; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Not implemented as there is nothing to return to. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortYield( void ) | |
{ | |
int32_t lInterruptMask; | |
/* Ensure the yield trap runs at the same priority as the other interrupts | |
that can cause a context switch. */ | |
lInterruptMask = get_imask(); | |
/* taskYIELD() can only be called from a task, not an interrupt, so the | |
current interrupt mask can only be 0 or portKERNEL_INTERRUPT_PRIORITY and | |
the mask can be set without risk of accidentally lowering the mask value. */ | |
set_imask( portKERNEL_INTERRUPT_PRIORITY ); | |
trapa( portYIELD_TRAP_NO ); | |
/* Restore the interrupt mask to whatever it was previously (when the | |
function was entered). */ | |
set_imask( ( int ) lInterruptMask ); | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortUsesFloatingPoint( TaskHandle_t xTask ) | |
{ | |
uint32_t *pulFlopBuffer; | |
BaseType_t xReturn; | |
extern void * volatile pxCurrentTCB; | |
/* This function tells the kernel that the task referenced by xTask is | |
going to use the floating point registers and therefore requires the | |
floating point registers saved as part of its context. */ | |
/* Passing NULL as xTask is used to indicate that the calling task is the | |
subject task - so pxCurrentTCB is the task handle. */ | |
if( xTask == NULL ) | |
{ | |
xTask = ( TaskHandle_t ) pxCurrentTCB; | |
} | |
/* Allocate a buffer large enough to hold all the flop registers. */ | |
pulFlopBuffer = ( uint32_t * ) pvPortMalloc( portFLOP_STORAGE_SIZE ); | |
if( pulFlopBuffer != NULL ) | |
{ | |
/* Start with the registers in a benign state. */ | |
memset( ( void * ) pulFlopBuffer, 0x00, portFLOP_STORAGE_SIZE ); | |
/* The first thing to get saved in the buffer is the FPSCR value - | |
initialise this to the current FPSCR value. */ | |
*pulFlopBuffer = get_fpscr(); | |
/* Use the task tag to point to the flop buffer. Pass pointer to just | |
above the buffer because the flop save routine uses a pre-decrement. */ | |
vTaskSetApplicationTaskTag( xTask, ( void * ) ( pulFlopBuffer + portFLOP_REGISTERS_TO_STORE ) ); | |
xReturn = pdPASS; | |
} | |
else | |
{ | |
xReturn = pdFAIL; | |
} | |
return xReturn; | |
} | |
/*-----------------------------------------------------------*/ | |