| /* | |
| FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry. | |
| This file is part of the FreeRTOS.org distribution. | |
| FreeRTOS.org is free software; you can redistribute it and/or modify | |
| it under the terms of the GNU General Public License as published by | |
| the Free Software Foundation; either version 2 of the License, or | |
| (at your option) any later version. | |
| FreeRTOS.org 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.org; if not, write to the Free Software | |
| Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | |
| A special exception to the GPL can be applied should you wish to distribute | |
| a combined work that includes FreeRTOS.org, without being obliged to provide | |
| the source code for any proprietary components. See the licensing section | |
| of http://www.FreeRTOS.org for full details of how and when the exception | |
| can be applied. | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * This is a concise, step by step, 'hands on' guide that describes both * | |
| * general multitasking concepts and FreeRTOS specifics. It presents and * | |
| * explains numerous examples that are written using the FreeRTOS API. * | |
| * Full source code for all the examples is provided in an accompanying * | |
| * .zip file. * | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| 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 V3.0.0 | |
| Changes from V3.0.1 | |
| */ | |
| #ifndef PORTMACRO_H | |
| #define PORTMACRO_H | |
| #if !defined(_SERIES) || _SERIES != 18 | |
| #error "WizC supports FreeRTOS on the Microchip PIC18-series only" | |
| #endif | |
| #if !defined(QUICKCALL) || QUICKCALL != 1 | |
| #error "QuickCall must be enabled (see ProjectOptions/Optimisations)" | |
| #endif | |
| #include <stddef.h> | |
| #include <pic.h> | |
| #define portCHAR char | |
| #define portFLOAT float | |
| #define portDOUBLE portFLOAT | |
| #define portLONG long | |
| #define portSHORT short | |
| #define portSTACK_TYPE unsigned char | |
| #define portBASE_TYPE char | |
| #if( configUSE_16_BIT_TICKS == 1 ) | |
| typedef unsigned portSHORT portTickType; | |
| #define portMAX_DELAY ( portTickType ) ( 0xFFFF ) | |
| #else | |
| typedef unsigned portLONG portTickType; | |
| #define portMAX_DELAY ( portTickType ) ( 0xFFFFFFFF ) | |
| #endif | |
| #define portBYTE_ALIGNMENT 1 | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Constant used for context switch macro when we require the interrupt | |
| * enable state to be forced when the interrupted task is switched back in. | |
| */ | |
| #define portINTERRUPTS_FORCED (0x01) | |
| /* | |
| * Constant used for context switch macro when we require the interrupt | |
| * enable state to be unchanged when the interrupted task is switched back in. | |
| */ | |
| #define portINTERRUPTS_UNCHANGED (0x00) | |
| /* Initial interrupt enable state for newly created tasks. This value is | |
| * used when a task switches in for the first time. | |
| */ | |
| #define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED) | |
| /* | |
| * Macros to modify the global interrupt enable bit in INTCON. | |
| */ | |
| #define portDISABLE_INTERRUPTS() \ | |
| do \ | |
| { \ | |
| bGIE=0; \ | |
| } while(bGIE) // MicroChip recommends this check! | |
| #define portENABLE_INTERRUPTS() \ | |
| do \ | |
| { \ | |
| bGIE=1; \ | |
| } while(0) | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Critical section macros. | |
| */ | |
| extern unsigned portCHAR ucCriticalNesting; | |
| #define portNO_CRITICAL_SECTION_NESTING ( ( unsigned portCHAR ) 0 ) | |
| #define portENTER_CRITICAL() \ | |
| do \ | |
| { \ | |
| portDISABLE_INTERRUPTS(); \ | |
| \ | |
| /* \ | |
| * Now interrupts are disabled ucCriticalNesting \ | |
| * can be accessed directly. Increment \ | |
| * ucCriticalNesting to keep a count of how \ | |
| * many times portENTER_CRITICAL() has been called. \ | |
| */ \ | |
| ucCriticalNesting++; \ | |
| } while(0) | |
| #define portEXIT_CRITICAL() \ | |
| do \ | |
| { \ | |
| if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \ | |
| { \ | |
| /* \ | |
| * Decrement the nesting count as we are leaving a \ | |
| * critical section. \ | |
| */ \ | |
| ucCriticalNesting--; \ | |
| } \ | |
| \ | |
| /* \ | |
| * If the nesting level has reached zero then \ | |
| * interrupts should be re-enabled. \ | |
| */ \ | |
| if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ | |
| { \ | |
| portENABLE_INTERRUPTS(); \ | |
| } \ | |
| } while(0) | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * The minimal stacksize is calculated on the first reference of | |
| * portMINIMAL_STACK_SIZE. Some input to this calculation is | |
| * compiletime determined, other input is port-defined (see port.c) | |
| */ | |
| extern unsigned portSHORT usPortCALCULATE_MINIMAL_STACK_SIZE( void ); | |
| extern unsigned portSHORT usCalcMinStackSize; | |
| #define portMINIMAL_STACK_SIZE \ | |
| ((usCalcMinStackSize == 0) \ | |
| ? usPortCALCULATE_MINIMAL_STACK_SIZE() \ | |
| : usCalcMinStackSize ) | |
| /* | |
| * WizC uses a downgrowing stack | |
| */ | |
| #define portSTACK_GROWTH ( -1 ) | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Macro's that pushes all the registers that make up the context of a task onto | |
| * the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU | |
| * are only saved/restored on devices with more than 64kB (32k Words) ROM. | |
| * | |
| * The stackpointer is helt by WizC in FSR2 and points to the first free byte. | |
| * WizC uses a "downgrowing" stack. There is no framepointer. | |
| * | |
| * We keep track of the interruptstatus using ucCriticalNesting. When this | |
| * value equals zero, interrupts have to be enabled upon exit from the | |
| * portRESTORE_CONTEXT macro. | |
| * | |
| * If this is called from an ISR then the interrupt enable bits must have been | |
| * set for the ISR to ever get called. Therefore we want to save | |
| * ucCriticalNesting with value zero. This means the interrupts will again be | |
| * re-enabled when the interrupted task is switched back in. | |
| * | |
| * If this is called from a manual context switch (i.e. from a call to yield), | |
| * then we want to keep the current value of ucCritialNesting so it is restored | |
| * with its current value. This allows a yield from within a critical section. | |
| * | |
| * The compiler uses some locations at the bottom of RAM for temporary | |
| * storage. The compiler may also have been instructed to optimize | |
| * function-parameters and local variables to global storage. The compiler | |
| * uses an area called LocOpt for this wizC feature. | |
| * The total overheadstorage has to be saved in it's entirety as part of | |
| * a task context. These macro's store/restore from data address 0x0000 to | |
| * (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1). | |
| * OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated | |
| * assembler definitions. | |
| */ | |
| #define portSAVE_CONTEXT( ucInterruptForced ) \ | |
| do \ | |
| { \ | |
| portDISABLE_INTERRUPTS(); \ | |
| \ | |
| _Pragma("asm") \ | |
| ; \ | |
| ; Push the relevant SFR's onto the task's stack \ | |
| ; \ | |
| movff STATUS,POSTDEC2 \ | |
| movff WREG,POSTDEC2 \ | |
| movff BSR,POSTDEC2 \ | |
| movff PRODH,POSTDEC2 \ | |
| movff PRODL,POSTDEC2 \ | |
| movff FSR0H,POSTDEC2 \ | |
| movff FSR0L,POSTDEC2 \ | |
| movff FSR1H,POSTDEC2 \ | |
| movff FSR1L,POSTDEC2 \ | |
| movff TABLAT,POSTDEC2 \ | |
| if __ROMSIZE > 0x8000 \ | |
| movff TBLPTRU,POSTDEC2 \ | |
| endif \ | |
| movff TBLPTRH,POSTDEC2 \ | |
| movff TBLPTRL,POSTDEC2 \ | |
| if __ROMSIZE > 0x8000 \ | |
| movff PCLATU,POSTDEC2 \ | |
| endif \ | |
| movff PCLATH,POSTDEC2 \ | |
| ; \ | |
| ; Store the compiler-scratch-area as described above. \ | |
| ; \ | |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ | |
| clrf FSR0L,ACCESS \ | |
| clrf FSR0H,ACCESS \ | |
| _rtos_S1: \ | |
| movff POSTINC0,POSTDEC2 \ | |
| decfsz WREG,W,ACCESS \ | |
| SMARTJUMP _rtos_S1 \ | |
| ; \ | |
| ; Save the pic call/return-stack belonging to the \ | |
| ; current task by copying it to the task's software- \ | |
| ; stack. We save the hardware stack pointer (which \ | |
| ; is the number of addresses on the stack) in the \ | |
| ; W-register first because we need it later and it \ | |
| ; is modified in the save-loop by executing pop's. \ | |
| ; After the loop the W-register is stored on the \ | |
| ; stack, too. \ | |
| ; \ | |
| movf STKPTR,W,ACCESS \ | |
| bz _rtos_s3 \ | |
| _rtos_S2: \ | |
| if __ROMSIZE > 0x8000 \ | |
| movff TOSU,POSTDEC2 \ | |
| endif \ | |
| movff TOSH,POSTDEC2 \ | |
| movff TOSL,POSTDEC2 \ | |
| pop \ | |
| tstfsz STKPTR,ACCESS \ | |
| SMARTJUMP _rtos_S2 \ | |
| _rtos_s3: \ | |
| movwf POSTDEC2,ACCESS \ | |
| ; \ | |
| ; Next the value for ucCriticalNesting used by the \ | |
| ; task is stored on the stack. When \ | |
| ; (ucInterruptForced == portINTERRUPTS_FORCED), we save \ | |
| ; it as 0 (portNO_CRITICAL_SECTION_NESTING). \ | |
| ; \ | |
| if ucInterruptForced == portINTERRUPTS_FORCED \ | |
| clrf POSTDEC2,ACCESS \ | |
| else \ | |
| movff ucCriticalNesting,POSTDEC2 \ | |
| endif \ | |
| ; \ | |
| ; Save the new top of the software stack in the TCB. \ | |
| ; \ | |
| movff pxCurrentTCB,FSR0L \ | |
| movff pxCurrentTCB+1,FSR0H \ | |
| movff FSR2L,POSTINC0 \ | |
| movff FSR2H,POSTINC0 \ | |
| _Pragma("asmend") \ | |
| } while(0) | |
| /************************************************************/ | |
| /* | |
| * This is the reverse of portSAVE_CONTEXT. | |
| */ | |
| #define portRESTORE_CONTEXT() \ | |
| do \ | |
| { \ | |
| _Pragma("asm") \ | |
| ; \ | |
| ; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \ | |
| ; \ | |
| movff pxCurrentTCB,FSR0L \ | |
| movff pxCurrentTCB+1,FSR0H \ | |
| ; \ | |
| ; De-reference FSR0 to set the address it holds into \ | |
| ; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \ | |
| ; is used by wizC as stackpointer. \ | |
| ; \ | |
| movff POSTINC0,FSR2L \ | |
| movff POSTINC0,FSR2H \ | |
| ; \ | |
| ; Next, the value for ucCriticalNesting used by the \ | |
| ; task is retrieved from the stack. \ | |
| ; \ | |
| movff PREINC2,ucCriticalNesting \ | |
| ; \ | |
| ; Rebuild the pic call/return-stack. The number of \ | |
| ; return addresses is the next item on the task stack. \ | |
| ; Save this number in PRODL. Then fetch the addresses \ | |
| ; and store them on the hardwarestack. \ | |
| ; The datasheets say we can't use movff here... \ | |
| ; \ | |
| movff PREINC2,PRODL // Use PRODL as tempregister \ | |
| clrf STKPTR,ACCESS \ | |
| _rtos_R1: \ | |
| push \ | |
| movf PREINC2,W,ACCESS \ | |
| movwf TOSL,ACCESS \ | |
| movf PREINC2,W,ACCESS \ | |
| movwf TOSH,ACCESS \ | |
| if __ROMSIZE > 0x8000 \ | |
| movf PREINC2,W,ACCESS \ | |
| movwf TOSU,ACCESS \ | |
| else \ | |
| clrf TOSU,ACCESS \ | |
| endif \ | |
| decfsz PRODL,F,ACCESS \ | |
| SMARTJUMP _rtos_R1 \ | |
| ; \ | |
| ; Restore the compiler's working storage area to page 0 \ | |
| ; \ | |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ | |
| movwf FSR0L,ACCESS \ | |
| clrf FSR0H,ACCESS \ | |
| _rtos_R2: \ | |
| decf FSR0L,F,ACCESS \ | |
| movff PREINC2,INDF0 \ | |
| tstfsz FSR0L,ACCESS \ | |
| SMARTJUMP _rtos_R2 \ | |
| ; \ | |
| ; Restore the sfr's forming the tasks context. \ | |
| ; We cannot yet restore bsr, w and status because \ | |
| ; we need these registers for a final test. \ | |
| ; \ | |
| movff PREINC2,PCLATH \ | |
| if __ROMSIZE > 0x8000 \ | |
| movff PREINC2,PCLATU \ | |
| else \ | |
| clrf PCLATU,ACCESS \ | |
| endif \ | |
| movff PREINC2,TBLPTRL \ | |
| movff PREINC2,TBLPTRH \ | |
| if __ROMSIZE > 0x8000 \ | |
| movff PREINC2,TBLPTRU \ | |
| else \ | |
| clrf TBLPTRU,ACCESS \ | |
| endif \ | |
| movff PREINC2,TABLAT \ | |
| movff PREINC2,FSR1L \ | |
| movff PREINC2,FSR1H \ | |
| movff PREINC2,FSR0L \ | |
| movff PREINC2,FSR0H \ | |
| movff PREINC2,PRODL \ | |
| movff PREINC2,PRODH \ | |
| ; \ | |
| ; The return from portRESTORE_CONTEXT() depends on \ | |
| ; the value of ucCriticalNesting. When it is zero, \ | |
| ; interrupts need to be enabled. This is done via a \ | |
| ; retfie instruction because we need the \ | |
| ; interrupt-enabling and the return to the restored \ | |
| ; task to be uninterruptable. \ | |
| ; Because bsr, status and W are affected by the test \ | |
| ; they are restored after the test. \ | |
| ; \ | |
| movlb ucCriticalNesting>>8 \ | |
| tstfsz ucCriticalNesting,BANKED \ | |
| SMARTJUMP _rtos_R4 \ | |
| _rtos_R3: \ | |
| movff PREINC2,BSR \ | |
| movff PREINC2,WREG \ | |
| movff PREINC2,STATUS \ | |
| retfie 0 ; Return enabling interrupts \ | |
| _rtos_R4: \ | |
| movff PREINC2,BSR \ | |
| movff PREINC2,WREG \ | |
| movff PREINC2,STATUS \ | |
| return 0 ; Return without affecting interrupts \ | |
| _Pragma("asmend") \ | |
| } while(0) | |
| /*-----------------------------------------------------------*/ | |
| #define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) | |
| /*-----------------------------------------------------------*/ | |
| extern void vPortYield( void ); | |
| #define portYIELD() vPortYield() | |
| #define portNOP() _Pragma("asm") \ | |
| nop \ | |
| _Pragma("asmend") | |
| /*-----------------------------------------------------------*/ | |
| #define portTASK_FUNCTION( xFunction, pvParameters ) \ | |
| void pointed xFunction( void *pvParameters ) \ | |
| _Pragma(asmfunc xFunction) | |
| #define portTASK_FUNCTION_PROTO portTASK_FUNCTION | |
| /*-----------------------------------------------------------*/ | |
| #define volatile | |
| #define register | |
| #endif /* PORTMACRO_H */ | |