portable/BCC/16BitDOS/Flsh186/port.c

/*
 * FreeRTOS Kernel V10.3.1
 * 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.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/*
 * Changes from V1.00:
 *
 + Call to taskYIELD() from within tick ISR has been replaced by the more
 +    efficient portSWITCH_CONTEXT().
 + ISR function definitions renamed to include the prv prefix.
 +
 + Changes from V2.6.1
 +
 + Replaced the sUsingPreemption variable with the configUSE_PREEMPTION
 +    macro to be consistent with the later ports.
 */

/*-----------------------------------------------------------
* Implementation of functions defined in portable.h for the Flashlite 186
* port.
*----------------------------------------------------------*/

#include <dos.h>
#include <stdlib.h>
#include <setjmp.h>

#include "FreeRTOS.h"
#include "task.h"
#include "portasm.h"

/*lint -e950 Non ANSI reserved words okay in this file only. */

#define portTIMER_EOI_TYPE              ( 8 )
#define portRESET_PIC()    portOUTPUT_WORD( ( uint16_t ) 0xff22, portTIMER_EOI_TYPE )
#define portTIMER_INT_NUMBER            0x12

#define portTIMER_1_CONTROL_REGISTER    ( ( uint16_t ) 0xff5e )
#define portTIMER_0_CONTROL_REGISTER    ( ( uint16_t ) 0xff56 )
#define portTIMER_INTERRUPT_ENABLE      ( ( uint16_t ) 0x2000 )

/* Setup the hardware to generate the required tick frequency. */
static void prvSetTickFrequency( uint32_t ulTickRateHz );

/* Set the hardware back to the state as per before the scheduler started. */
static void prvExitFunction( void );

/* The ISR used depends on whether the preemptive or cooperative scheduler
 * is being used. */
#if ( configUSE_PREEMPTION == 1 )

/* Tick service routine used by the scheduler when preemptive scheduling is
 * being used. */
    static void __interrupt __far prvPreemptiveTick( void );
#else

/* Tick service routine used by the scheduler when cooperative scheduling is
 * being used. */
    static void __interrupt __far prvNonPreemptiveTick( void );
#endif

/* Trap routine used by taskYIELD() to manually cause a context switch. */
static void __interrupt __far prvYieldProcessor( void );

/*lint -e956 File scopes necessary here. */

/* Set true when the vectors are set so the scheduler will service the tick. */
static BaseType_t xSchedulerRunning = pdFALSE;

/* Points to the original routine installed on the vector we use for manual
 * context switches.  This is then used to restore the original routine during
 * prvExitFunction(). */
static void( __interrupt __far * pxOldSwitchISR )();

/* Used to restore the original DOS context when the scheduler is ended. */
static jmp_buf xJumpBuf;

/*lint +e956 */

/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
    /* This is called with interrupts already disabled. */

    /* Remember what was on the interrupts we are going to use
     * so we can put them back later if required. */
    pxOldSwitchISR = _dos_getvect( portSWITCH_INT_NUMBER );

    /* Put our manual switch (yield) function on a known
     * vector. */
    _dos_setvect( portSWITCH_INT_NUMBER, prvYieldProcessor );

    #if ( configUSE_PREEMPTION == 1 )
        {
            /* Put our tick switch function on the timer interrupt. */
            _dos_setvect( portTIMER_INT_NUMBER, prvPreemptiveTick );
        }
    #else
        {
            /* We want the timer interrupt to just increment the tick count. */
            _dos_setvect( portTIMER_INT_NUMBER, prvNonPreemptiveTick );
        }
    #endif

    prvSetTickFrequency( configTICK_RATE_HZ );

    /* Clean up function if we want to return to DOS. */
    if( setjmp( xJumpBuf ) != 0 )
    {
        prvExitFunction();
        xSchedulerRunning = pdFALSE;
    }
    else
    {
        xSchedulerRunning = pdTRUE;

        /* Kick off the scheduler by setting up the context of the first task. */
        portFIRST_CONTEXT();
    }

    return xSchedulerRunning;
}
/*-----------------------------------------------------------*/

/* The ISR used depends on whether the preemptive or cooperative scheduler
 * is being used. */
#if ( configUSE_PREEMPTION == 1 )
    static void __interrupt __far prvPreemptiveTick( void )
    {
        /* Get the scheduler to update the task states following the tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            /* Switch in the context of the next task to be run. */
            portSWITCH_CONTEXT();
        }

        /* Reset the PIC ready for the next time. */
        portRESET_PIC();
    }
#else /* if ( configUSE_PREEMPTION == 1 ) */
    static void __interrupt __far prvNonPreemptiveTick( void )
    {
        /* Same as preemptive tick, but the cooperative scheduler is being used
         * so we don't have to switch in the context of the next task. */
        xTaskIncrementTick();
        portRESET_PIC();
    }
#endif /* if ( configUSE_PREEMPTION == 1 ) */
/*-----------------------------------------------------------*/

static void __interrupt __far prvYieldProcessor( void )
{
    /* Switch in the context of the next task to be run. */
    portSWITCH_CONTEXT();
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
    /* Jump back to the processor state prior to starting the
     * scheduler.  This means we are not going to be using a
     * task stack frame so the task can be deleted. */
    longjmp( xJumpBuf, 1 );
}
/*-----------------------------------------------------------*/

static void prvExitFunction( void )
{
    const uint16_t usTimerDisable = 0x0000;
    uint16_t usTimer0Control;

    /* Interrupts should be disabled here anyway - but no
     * harm in making sure. */
    portDISABLE_INTERRUPTS();

    if( xSchedulerRunning == pdTRUE )
    {
        /* Put back the switch interrupt routines that was in place
         * before the scheduler started. */
        _dos_setvect( portSWITCH_INT_NUMBER, pxOldSwitchISR );
    }

    /* Disable the timer used for the tick to ensure the scheduler is
     * not called before restoring interrupts.  There was previously nothing
     * on this timer so there is no old ISR to restore. */
    portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerDisable );

    /* Restart the DOS tick. */
    usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER );
    usTimer0Control |= portTIMER_INTERRUPT_ENABLE;
    portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control );


    portENABLE_INTERRUPTS();
}
/*-----------------------------------------------------------*/

static void prvSetTickFrequency( uint32_t ulTickRateHz )
{
    const uint16_t usMaxCountRegister = 0xff5a;
    const uint16_t usTimerPriorityRegister = 0xff32;
    const uint16_t usTimerEnable = 0xC000;
    const uint16_t usRetrigger = 0x0001;
    const uint16_t usTimerHighPriority = 0x0000;
    uint16_t usTimer0Control;

/* ( CPU frequency / 4 ) / clock 2 max count [inpw( 0xff62 ) = 7] */

    const uint32_t ulClockFrequency = ( uint32_t ) 0x7f31a0UL;

    uint32_t ulTimerCount = ulClockFrequency / ulTickRateHz;

    portOUTPUT_WORD( portTIMER_1_CONTROL_REGISTER, usTimerEnable | portTIMER_INTERRUPT_ENABLE | usRetrigger );
    portOUTPUT_WORD( usMaxCountRegister, ( uint16_t ) ulTimerCount );
    portOUTPUT_WORD( usTimerPriorityRegister, usTimerHighPriority );

    /* Stop the DOS tick - don't do this if you want to maintain a TOD clock. */
    usTimer0Control = portINPUT_WORD( portTIMER_0_CONTROL_REGISTER );
    usTimer0Control &= ~portTIMER_INTERRUPT_ENABLE;
    portOUTPUT_WORD( portTIMER_0_CONTROL_REGISTER, usTimer0Control );
}


/*lint +e950 */