portable/Softune/MB91460/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
 *
 */

#include "FreeRTOS.h"
#include "task.h"
#include "mb91467d.h"

/*-----------------------------------------------------------*/

/* 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;

/*-----------------------------------------------------------*/

#pragma asm
#macro  SaveContext
	 ORCCR #0x20								;Switch to user stack
	 ST RP,@-R15								;Store RP
	 STM0 (R7,R6,R5,R4,R3,R2,R1,R0)				;Store R7-R0
	 STM1 (R14,R13,R12,R11,R10,R9,R8)			;Store R14-R8
	 ST MDH, @-R15								;Store MDH
	 ST MDL, @-R15								;Store MDL

	 ANDCCR #0xDF								;Switch back to system stack
	 LD @R15+,R0								;Store PC to R0 
	 ORCCR #0x20								;Switch to user stack
	 ST R0,@-R15								;Store PC to User stack

	 ANDCCR #0xDF								;Switch back to system stack
	 LD @R15+,R0								;Store PS to R0
	 ORCCR #0x20								;Switch to user stack
	 ST R0,@-R15								;Store PS to User stack

	 LDI #_pxCurrentTCB, R0						;Get pxCurrentTCB address
	 LD @R0, R0									;Get the pxCurrentTCB->pxTopOfStack address
	 ST R15,@R0									;Store USP to pxCurrentTCB->pxTopOfStack

	 ANDCCR #0xDF								;Switch back to system stack for the rest of tick ISR
#endm

#macro RestoreContext
	 LDI #_pxCurrentTCB, R0						;Get pxCurrentTCB address
	 LD @R0, R0									;Get the pxCurrentTCB->pxTopOfStack address
	 ORCCR #0x20								;Switch to user stack
	 LD @R0, R15								;Restore USP from pxCurrentTCB->pxTopOfStack

	 LD @R15+,R0								;Store PS to R0
	 ANDCCR #0xDF								;Switch to system stack
	 ST R0,@-R15								;Store PS to system stack

	 ORCCR #0x20								;Switch to user stack
	 LD @R15+,R0								;Store PC to R0
	 ANDCCR #0xDF								;Switch to system stack
	 ST R0,@-R15								;Store PC to system stack

	 ORCCR #0x20								;Switch back to retrieve the remaining context

	 LD @R15+, MDL								;Restore MDL
	 LD @R15+, MDH								;Restore MDH
	 LDM1 (R14,R13,R12,R11,R10,R9,R8)			;Restore R14-R8
	 LDM0 (R7,R6,R5,R4,R3,R2,R1,R0)				;Restore R7-R0
	 LD @R15+, RP								;Restore RP

	 ANDCCR #0xDF								;Switch back to system stack for the rest of tick ISR
#endm
#pragma endasm

/*-----------------------------------------------------------*/

/*
 * Perform hardware setup to enable ticks from timer 1,
 */
static void prvSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/

/*
 * Initialise the stack of a task to look exactly as if a call to
 * portSAVE_CONTEXT had been called.
 *
 * See the header file portable.h.
 */
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                     TaskFunction_t pxCode,
                                     void * pvParameters )
{
    /* Place a few bytes of known values on the bottom of the stack.
     * This is just useful for debugging. */

    *pxTopOfStack = 0x11111111;
    pxTopOfStack--;
    *pxTopOfStack = 0x22222222;
    pxTopOfStack--;
    *pxTopOfStack = 0x33333333;
    pxTopOfStack--;

    /* This is a redundant push to the stack, it may be required if
     * in some implementations of the compiler the parameter to the task
     * is passed on to the stack rather than in R4 register. */
    *pxTopOfStack = ( StackType_t ) ( pvParameters );
    pxTopOfStack--;

    *pxTopOfStack = ( StackType_t ) 0x00000000; /* RP */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00007777; /* R7 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00006666; /* R6 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00005555; /* R5 */
    pxTopOfStack--;

    /* In the current implementation of the compiler the first
     * parameter to the task (or function) is passed via R4 parameter
     * to the task, hence the pvParameters pointer is copied into the R4
     * register. See compiler manual section 4.6.2 for more information. */
    *pxTopOfStack = ( StackType_t ) ( pvParameters ); /* R4 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00003333;       /* R3 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00002222;       /* R2 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00001111;       /* R1 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00000001;       /* R0 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x0000EEEE;       /* R14 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x0000DDDD;       /* R13 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x0000CCCC;       /* R12 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x0000BBBB;       /* R11 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x0000AAAA;       /* R10 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00009999;       /* R9 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x00008888;       /* R8 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x11110000;       /* MDH */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x22220000;       /* MDL */
    pxTopOfStack--;

    /* The start of the task code. */
    *pxTopOfStack = ( StackType_t ) pxCode; /* PC */
    pxTopOfStack--;

    /* PS - User Mode, USP, ILM=31, Interrupts enabled */
    *pxTopOfStack = ( StackType_t ) 0x001F0030; /* PS */

    return pxTopOfStack;
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
    /* Setup the hardware to generate the tick. */
    prvSetupTimerInterrupt();

    /* Restore the context of the first task that is going to run. */
    #pragma asm
		RestoreContext
    #pragma endasm

    /* Simulate a function call end as generated by the compiler.  We will now
     * jump to the start of the task the context of which we have just restored. */
    __asm( " reti " );

    /* Should not get here. */
    return pdFAIL;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
    /* Not implemented - unlikely to ever be required as there is nothing to
     * return to. */
}
/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt( void )
{
/* The peripheral clock divided by 32 is used by the timer. */
    const uint16_t usReloadValue = ( uint16_t ) ( ( ( configPER_CLOCK_HZ / configTICK_RATE_HZ ) / 32UL ) - 1UL );

    /* Setup RLT0 to generate a tick interrupt. */

    TMCSR0_CNTE = 0;   /* Count Disable */
    TMCSR0_CSL  = 0x2; /* CLKP/32 */
    TMCSR0_MOD  = 0;   /* Software trigger */
    TMCSR0_RELD = 1;   /* Reload */

    TMCSR0_UF   = 0;   /* Clear underflow flag */
    TMRLR0      = usReloadValue;
    TMCSR0_INTE = 1;   /* Interrupt Enable */
    TMCSR0_CNTE = 1;   /* Count Enable */
    TMCSR0_TRG  = 1;   /* Trigger */

    PORTEN      = 0x3; /* Port Enable */
}
/*-----------------------------------------------------------*/

#if configUSE_PREEMPTION == 1

/*
 * Tick ISR for preemptive scheduler. The tick count is incremented
 * after the context is saved. Then the context is switched if required,
 * and last the context of the task which is to be resumed is restored.
 */

    #pragma asm

	.global _ReloadTimer0_IRQHandler
	_ReloadTimer0_IRQHandler:

	ANDCCR #0xEF							;Disable Interrupts
	SaveContext								;Save context
	ORCCR #0x10								;Re-enable Interrupts

	LDI #0xFFFB,R1
	LDI #_tmcsr0, R0
	AND R1,@R0								;Clear RLT0 interrupt flag

	CALL32	 _xTaskIncrementTick,R12		;Increment Tick
	CALL32	 _vTaskSwitchContext,R12		;Switch context if required

	ANDCCR #0xEF							;Disable Interrupts
	RestoreContext							;Restore context
	ORCCR #0x10								;Re-enable Interrupts

	RETI

    #pragma endasm

#else  /* if configUSE_PREEMPTION == 1 */

/*
 * Tick ISR for the cooperative scheduler.  All this does is increment the
 * tick count.  We don't need to switch context, this can only be done by
 * manual calls to taskYIELD();
 */
    __interrupt void ReloadTimer0_IRQHandler( void )
    {
        /* Clear RLT0 interrupt flag */
        TMCSR0_UF = 0;
        xTaskIncrementTick();
    }

#endif /* if configUSE_PREEMPTION == 1 */

/*
 * Manual context switch. We can use a __nosavereg attribute  as the context
 * would be saved by PortSAVE_CONTEXT().  The context is switched and then
 * the context of the new task is restored saved.
 */
#pragma asm

	.global _vPortYieldDelayed
	_vPortYieldDelayed:

	ANDCCR #0xEF							;Disable Interrupts
	SaveContext								;Save context
	ORCCR #0x10								;Re-enable Interrupts

	LDI #_dicr, R0
	BANDL #0x0E, @R0						;Clear Delayed interrupt flag

	CALL32	 _vTaskSwitchContext,R12		;Switch context if required

	ANDCCR #0xEF							;Disable Interrupts
	RestoreContext							;Restore context
	ORCCR #0x10								;Re-enable Interrupts

	RETI

#pragma endasm
/*-----------------------------------------------------------*/

/*
 * Manual context switch. We can use a __nosavereg attribute  as the context
 * would be saved by PortSAVE_CONTEXT().  The context is switched and then
 * the context of the new task is restored saved.
 */
#pragma asm

	.global _vPortYield
	_vPortYield:

	SaveContext								;Save context
	CALL32	 _vTaskSwitchContext,R12		;Switch context if required
	RestoreContext							;Restore context

	RETI

#pragma endasm
/*-----------------------------------------------------------*/