| /* | |
| 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! | |
| */ | |
| /* | |
| Changes from V3.2.1 | |
| + CallReturn Depth increased from 8 to 10 levels to accomodate wizC/fedC V12. | |
| Changes from V3.2.0 | |
| + TBLPTRU is now initialised to zero during the initial stack creation of a new task. This solves | |
| an error on devices with more than 64kB ROM. | |
| Changes from V3.0.0 | |
| + ucCriticalNesting is now initialised to 0x7F to prevent interrupts from being | |
| handled before the scheduler is started. | |
| Changes from V3.0.1 | |
| */ | |
| /* Scheduler include files. */ | |
| #include <FreeRTOS.h> | |
| #include <task.h> | |
| #include <malloc.h> | |
| /*--------------------------------------------------------------------------- | |
| * Implementation of functions defined in portable.h for the WizC PIC18 port. | |
| *---------------------------------------------------------------------------*/ | |
| /* | |
| * We require the address of the pxCurrentTCB variable, but don't want to | |
| * know any details of its type. | |
| */ | |
| typedef void TCB_t; | |
| extern volatile TCB_t * volatile pxCurrentTCB; | |
| /* | |
| * Define minimal-stack constants | |
| * ----- | |
| * FSR's: | |
| * STATUS, WREG, BSR, PRODH, PRODL, FSR0H, FSR0L, | |
| * FSR1H, FSR1L,TABLAT, (TBLPTRU), TBLPTRH, TBLPTRL, | |
| * (PCLATU), PCLATH | |
| * sfr's within parenthesis only on devices > 64kB | |
| * ----- | |
| * Call/Return stack: | |
| * 2 bytes per entry on devices <= 64kB | |
| * 3 bytes per entry on devices > 64kB | |
| * ----- | |
| * Other bytes: | |
| * 2 bytes: FunctionParameter for initial taskcode | |
| * 1 byte : Number of entries on call/return stack | |
| * 1 byte : ucCriticalNesting | |
| * 16 bytes: Free space on stack | |
| */ | |
| #if _ROMSIZE > 0x8000 | |
| #define portSTACK_FSR_BYTES ( 15 ) | |
| #define portSTACK_CALLRETURN_ENTRY_SIZE ( 3 ) | |
| #else | |
| #define portSTACK_FSR_BYTES ( 13 ) | |
| #define portSTACK_CALLRETURN_ENTRY_SIZE ( 2 ) | |
| #endif | |
| #define portSTACK_MINIMAL_CALLRETURN_DEPTH ( 10 ) | |
| #define portSTACK_OTHER_BYTES ( 20 ) | |
| uint16_t usCalcMinStackSize = 0; | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * We initialise ucCriticalNesting to the middle value an | |
| * uint8_t can contain. This way portENTER_CRITICAL() | |
| * and portEXIT_CRITICAL() can be called without interrupts | |
| * being enabled before the scheduler starts. | |
| */ | |
| register uint8_t ucCriticalNesting = 0x7F; | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Initialise the stack of a new task. | |
| * See portSAVE_CONTEXT macro for description. | |
| */ | |
| StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
| { | |
| uint8_t ucScratch; | |
| /* | |
| * Get the size of the RAMarea in page 0 used by the compiler | |
| * We do this here already to avoid W-register conflicts. | |
| */ | |
| _Pragma("asm") | |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE | |
| movwf PRODL,ACCESS ; PRODL is used as temp register | |
| _Pragma("asmend") | |
| ucScratch = PRODL; | |
| /* | |
| * Place a few bytes of known values on the bottom of the stack. | |
| * This is just useful for debugging. | |
| */ | |
| // *pxTopOfStack-- = 0x11; | |
| // *pxTopOfStack-- = 0x22; | |
| // *pxTopOfStack-- = 0x33; | |
| /* | |
| * Simulate how the stack would look after a call to vPortYield() | |
| * generated by the compiler. | |
| */ | |
| /* | |
| * First store the function parameters. This is where the task expects | |
| * to find them when it starts running. | |
| */ | |
| *pxTopOfStack-- = ( StackType_t ) ( (( uint16_t ) pvParameters >> 8) & 0x00ff ); | |
| *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pvParameters & 0x00ff ); | |
| /* | |
| * Next are all the registers that form part of the task context. | |
| */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x11; /* STATUS. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x22; /* WREG. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x33; /* BSR. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x44; /* PRODH. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x55; /* PRODL. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x66; /* FSR0H. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x77; /* FSR0L. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x88; /* FSR1H. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0x99; /* FSR1L. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0xAA; /* TABLAT. */ | |
| #if _ROMSIZE > 0x8000 | |
| *pxTopOfStack-- = ( StackType_t ) 0x00; /* TBLPTRU. */ | |
| #endif | |
| *pxTopOfStack-- = ( StackType_t ) 0xCC; /* TBLPTRH. */ | |
| *pxTopOfStack-- = ( StackType_t ) 0xDD; /* TBLPTRL. */ | |
| #if _ROMSIZE > 0x8000 | |
| *pxTopOfStack-- = ( StackType_t ) 0xEE; /* PCLATU. */ | |
| #endif | |
| *pxTopOfStack-- = ( StackType_t ) 0xFF; /* PCLATH. */ | |
| /* | |
| * Next the compiler's scratchspace. | |
| */ | |
| while(ucScratch-- > 0) | |
| { | |
| *pxTopOfStack-- = ( StackType_t ) 0; | |
| } | |
| /* | |
| * The only function return address so far is the address of the task entry. | |
| * The order is TOSU/TOSH/TOSL. For devices > 64kB, TOSU is put on the | |
| * stack, too. TOSU is always written as zero here because wizC does not allow | |
| * functionpointers to point above 64kB in ROM. | |
| */ | |
| #if _ROMSIZE > 0x8000 | |
| *pxTopOfStack-- = ( StackType_t ) 0; | |
| #endif | |
| *pxTopOfStack-- = ( StackType_t ) ( ( ( uint16_t ) pxCode >> 8 ) & 0x00ff ); | |
| *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pxCode & 0x00ff ); | |
| /* | |
| * Store the number of return addresses on the hardware stack. | |
| * So far only the address of the task entry point. | |
| */ | |
| *pxTopOfStack-- = ( StackType_t ) 1; | |
| /* | |
| * The code generated by wizC does not maintain separate | |
| * stack and frame pointers. Therefore the portENTER_CRITICAL macro cannot | |
| * use the stack as per other ports. Instead a variable is used to keep | |
| * track of the critical section nesting. This variable has to be stored | |
| * as part of the task context and is initially set to zero. | |
| */ | |
| *pxTopOfStack-- = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void ) | |
| { | |
| /* | |
| * Fetch the size of compiler's scratchspace. | |
| */ | |
| _Pragma("asm") | |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE | |
| movlb usCalcMinStackSize>>8 | |
| movwf usCalcMinStackSize,BANKED | |
| _Pragma("asmend") | |
| /* | |
| * Add minimum needed stackspace | |
| */ | |
| usCalcMinStackSize += ( portSTACK_FSR_BYTES ) | |
| + ( portSTACK_MINIMAL_CALLRETURN_DEPTH * portSTACK_CALLRETURN_ENTRY_SIZE ) | |
| + ( portSTACK_OTHER_BYTES ); | |
| return(usCalcMinStackSize); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| BaseType_t xPortStartScheduler( void ) | |
| { | |
| extern void portSetupTick( void ); | |
| /* | |
| * Setup a timer for the tick ISR for the preemptive scheduler. | |
| */ | |
| portSetupTick(); | |
| /* | |
| * Restore the context of the first task to run. | |
| */ | |
| portRESTORE_CONTEXT(); | |
| /* | |
| * This point should never be reached during execution. | |
| */ | |
| return pdTRUE; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) | |
| { | |
| /* | |
| * It is unlikely that the scheduler for the PIC port will get stopped | |
| * once running. When called a reset is done which is probably the | |
| * most valid action. | |
| */ | |
| _Pragma(asmline reset); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Manual context switch. This is similar to the tick context switch, | |
| * but does not increment the tick count. It must be identical to the | |
| * tick context switch in how it stores the stack of a task. | |
| */ | |
| void vPortYield( void ) | |
| { | |
| /* | |
| * Save the context of the current task. | |
| */ | |
| portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED ); | |
| /* | |
| * Switch to the highest priority task that is ready to run. | |
| */ | |
| vTaskSwitchContext(); | |
| /* | |
| * Start executing the task we have just switched to. | |
| */ | |
| portRESTORE_CONTEXT(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void *pvPortMalloc( uint16_t usWantedSize ) | |
| { | |
| void *pvReturn; | |
| vTaskSuspendAll(); | |
| { | |
| pvReturn = malloc( ( malloc_t ) usWantedSize ); | |
| } | |
| xTaskResumeAll(); | |
| return pvReturn; | |
| } | |
| void vPortFree( void *pv ) | |
| { | |
| if( pv ) | |
| { | |
| vTaskSuspendAll(); | |
| { | |
| free( pv ); | |
| } | |
| xTaskResumeAll(); | |
| } | |
| } |