| /* | |
| FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?". Have you defined configASSERT()? * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.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 * | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * Investing in training allows your team to be as productive as * | |
| * possible as early as possible, lowering your overall development * | |
| * cost, and enabling you to bring a more robust product to market * | |
| * earlier than would otherwise be possible. Richard Barry is both * | |
| * the architect and key author of FreeRTOS, and so also the world's * | |
| * leading authority on what is the world's most popular real time * | |
| * kernel for deeply embedded MCU designs. Obtaining your training * | |
| * from Richard ensures your team will gain directly from his in-depth * | |
| * product knowledge and years of usage experience. Contact Real Time * | |
| * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * | |
| * by Richard Barry: http://www.FreeRTOS.org/contact | |
| * * | |
| *************************************************************************** | |
| *************************************************************************** | |
| * * | |
| * You are receiving this top quality software for free. Please play * | |
| * fair and reciprocate by reporting any suspected issues and * | |
| * participating in the community forum: * | |
| * http://www.FreeRTOS.org/support * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| 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 ) | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * 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; | |
| } | |
| /*-----------------------------------------------------------*/ | |