portable/GCC/H8S2329/port.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel <DEVELOPMENT BRANCH>
  * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * SPDX-License-Identifier: MIT
  *
  * 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.
  *
  * https://www.FreeRTOS.org
  * https://github.com/FreeRTOS
  *
  */

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"


 /*-----------------------------------------------------------
  * Implementation of functions defined in portable.h for the H8S port.
  *----------------------------------------------------------*/


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

 /* When the task starts interrupts should be enabled. */
 #define portINITIAL_CCR			( ( StackType_t ) 0x00 )

 /* Hardware specific constants used to generate the RTOS tick from the TPU. */
 #define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 )
 #define portCLOCK_DIV_64				( ( uint8_t ) 0x03 )
 #define portCLOCK_DIV					( ( uint32_t ) 64 )
 #define portTGRA_INTERRUPT_ENABLE		( ( uint8_t ) 0x01 )
 #define portTIMER_CHANNEL				( ( uint8_t ) 0x02 )
 #define portMSTP13						( ( uint16_t ) 0x2000 )

 /*
  * Setup TPU channel one for the RTOS tick at the requested frequency.
  */
 static void prvSetupTimerInterrupt( void );

 /*
  * The ISR used by portYIELD(). This is installed as a trap handler.
  */
 void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );

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

 /*
  * See header file for description.
  */
 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
 {
 uint32_t ulValue;

 	/* This requires an even address. */
 	ulValue = ( uint32_t ) pxTopOfStack;
 	if( ulValue & 1UL )
 	{
 		pxTopOfStack = pxTopOfStack - 1;
 	}

 	/* Place a few bytes of known values on the bottom of the stack.
 	This is just useful for debugging. */
 	pxTopOfStack--;
 	*pxTopOfStack = 0xaa;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xbb;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xcc;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xdd;

 	/* The initial stack mimics an interrupt stack.  First there is the program
 	counter (24 bits). */
 	ulValue = ( uint32_t ) pxCode;

 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );

 	/* Followed by the CCR. */
 	pxTopOfStack--;
 	*pxTopOfStack = portINITIAL_CCR;

 	/* Next all the general purpose registers - with the parameters being passed
 	in ER0.  The parameter order must match that used by the compiler when the
 	"saveall" function attribute is used. */

 	/* ER6 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;

 	/* ER0 */
 	ulValue = ( uint32_t ) pvParameters;

 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );

 	/* ER1 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;

 	/* ER2 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;

 	/* ER3 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;

 	/* ER4 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;

 	/* ER5 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;

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

 BaseType_t xPortStartScheduler( void )
 {
 extern void * pxCurrentTCB;

 	/* Setup the hardware to generate the tick. */
 	prvSetupTimerInterrupt();

 	/* Restore the context of the first task that is going to run.  This
 	mirrors the function epilogue code generated by the compiler when the
 	"saveall" function attribute is used. */
 	asm volatile (
 					"MOV.L		@_pxCurrentTCB, ER6			\n\t"
 					"MOV.L		@ER6, ER7					\n\t"
 					"LDM.L     	@SP+, (ER4-ER5)				\n\t"
 					"LDM.L     	@SP+, (ER0-ER3)				\n\t"
 					"MOV.L     	@ER7+, ER6					\n\t"
 					"RTE									\n\t"
 				);

 	( void ) pxCurrentTCB;

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

 void vPortEndScheduler( void )
 {
 	/* It is unlikely that the h8 port will get stopped. */
 }
 /*-----------------------------------------------------------*/

 /*
  * Manual context switch.  This is a trap handler.  The "saveall" function
  * attribute is used so the context is saved by the compiler prologue.  All
  * we have to do is save the stack pointer.
  */
 void vPortYield( void )
 {
 	portSAVE_STACK_POINTER();
 		vTaskSwitchContext();
 	portRESTORE_STACK_POINTER();
 }
 /*-----------------------------------------------------------*/

 /*
  * The interrupt handler installed for the RTOS tick depends on whether the
  * preemptive or cooperative scheduler is being used.
  */
 #if( configUSE_PREEMPTION == 1 )

 	/*
 	 * The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
 	 * The function prologue saves the context so all we have to do is save
 	 * the stack pointer.
 	 */
 	void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
 	void vTickISR( void )
 	{
 		portSAVE_STACK_POINTER();

 		if( xTaskIncrementTick() != pdFALSE )
 		{
 			vTaskSwitchContext();
 		}

 		/* Clear the interrupt. */
 		TSR1 &= ~0x01;

 		portRESTORE_STACK_POINTER();
 	}

 #else

 	/*
 	 * The cooperative scheduler is being used so all we have to do is
 	 * periodically increment the tick.  This can just be a normal ISR and
 	 * the "saveall" attribute is not required.
 	 */
 	void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
 	void vTickISR( void )
 	{
 		xTaskIncrementTick();

 		/* Clear the interrupt. */
 		TSR1 &= ~0x01;
 	}

 #endif
 /*-----------------------------------------------------------*/

 /*
  * Setup timer 1 compare match to generate a tick interrupt.
  */
 static void prvSetupTimerInterrupt( void )
 {
 const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;

 	/* Turn the module on. */
 	MSTPCR &= ~portMSTP13;

 	/* Configure timer 1. */
 	TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64;

 	/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
 	TGR1A = ulCompareMatch;

 	/* Start the timer and enable the interrupt - we can do this here as
 	interrupts are globally disabled when this function is called. */
 	TIER1 |= portTGRA_INTERRUPT_ENABLE;
 	TSTR |= portTIMER_CHANNEL;
 }
 /*-----------------------------------------------------------*/
	/*
	* FreeRTOS Kernel <DEVELOPMENT BRANCH>
	* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
	*
	* SPDX-License-Identifier: MIT
	*
	* 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.
	*
	* https://www.FreeRTOS.org
	* https://github.com/FreeRTOS
	*
	*/

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"


	/*-----------------------------------------------------------
	* Implementation of functions defined in portable.h for the H8S port.
	----------------------------------------------------------/


	/-----------------------------------------------------------/

	/* When the task starts interrupts should be enabled. */
	#define portINITIAL_CCR ( ( StackType_t ) 0x00 )

	/* Hardware specific constants used to generate the RTOS tick from the TPU. */
	#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 )
	#define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 )
	#define portCLOCK_DIV ( ( uint32_t ) 64 )
	#define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 )
	#define portTIMER_CHANNEL ( ( uint8_t ) 0x02 )
	#define portMSTP13 ( ( uint16_t ) 0x2000 )

	/*
	* Setup TPU channel one for the RTOS tick at the requested frequency.
	*/
	static void prvSetupTimerInterrupt( void );

	/*
	* The ISR used by portYIELD(). This is installed as a trap handler.
	*/
	void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );

	/-----------------------------------------------------------/

	/*
	* See header file for description.
	*/
	StackType_t pxPortInitialiseStack( StackType_t pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
	{
	uint32_t ulValue;

	/* This requires an even address. */
	ulValue = ( uint32_t ) pxTopOfStack;
	if( ulValue & 1UL )
	{
	pxTopOfStack = pxTopOfStack - 1;
	}

	/* Place a few bytes of known values on the bottom of the stack.
	This is just useful for debugging. */
	pxTopOfStack--;
	*pxTopOfStack = 0xaa;
	pxTopOfStack--;
	*pxTopOfStack = 0xbb;
	pxTopOfStack--;
	*pxTopOfStack = 0xcc;
	pxTopOfStack--;
	*pxTopOfStack = 0xdd;

	/* The initial stack mimics an interrupt stack. First there is the program
	counter (24 bits). */
	ulValue = ( uint32_t ) pxCode;

	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );

	/* Followed by the CCR. */
	pxTopOfStack--;
	*pxTopOfStack = portINITIAL_CCR;

	/* Next all the general purpose registers - with the parameters being passed
	in ER0. The parameter order must match that used by the compiler when the
	"saveall" function attribute is used. */

	/* ER6 */
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;

	/* ER0 */
	ulValue = ( uint32_t ) pvParameters;

	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff );

	/* ER1 */
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;

	/* ER2 */
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;

	/* ER3 */
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;

	/* ER4 */
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;

	/* ER5 */
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;

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

	BaseType_t xPortStartScheduler( void )
	{
	extern void * pxCurrentTCB;

	/* Setup the hardware to generate the tick. */
	prvSetupTimerInterrupt();

	/* Restore the context of the first task that is going to run. This
	mirrors the function epilogue code generated by the compiler when the
	"saveall" function attribute is used. */
	asm volatile (
	"MOV.L @_pxCurrentTCB, ER6 \n\t"
	"MOV.L @ER6, ER7 \n\t"
	"LDM.L @SP+, (ER4-ER5) \n\t"
	"LDM.L @SP+, (ER0-ER3) \n\t"
	"MOV.L @ER7+, ER6 \n\t"
	"RTE \n\t"
	);

	( void ) pxCurrentTCB;

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

	void vPortEndScheduler( void )
	{
	/* It is unlikely that the h8 port will get stopped. */
	}
	/-----------------------------------------------------------/

	/*
	* Manual context switch. This is a trap handler. The "saveall" function
	* attribute is used so the context is saved by the compiler prologue. All
	* we have to do is save the stack pointer.
	*/
	void vPortYield( void )
	{
	portSAVE_STACK_POINTER();
	vTaskSwitchContext();
	portRESTORE_STACK_POINTER();
	}
	/-----------------------------------------------------------/

	/*
	* The interrupt handler installed for the RTOS tick depends on whether the
	* preemptive or cooperative scheduler is being used.
	*/
	#if( configUSE_PREEMPTION == 1 )

	/*
	* The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
	* The function prologue saves the context so all we have to do is save
	* the stack pointer.
	*/
	void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
	void vTickISR( void )
	{
	portSAVE_STACK_POINTER();

	if( xTaskIncrementTick() != pdFALSE )
	{
	vTaskSwitchContext();
	}

	/* Clear the interrupt. */
	TSR1 &= ~0x01;

	portRESTORE_STACK_POINTER();
	}

	#else

	/*
	* The cooperative scheduler is being used so all we have to do is
	* periodically increment the tick. This can just be a normal ISR and
	* the "saveall" attribute is not required.
	*/
	void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
	void vTickISR( void )
	{
	xTaskIncrementTick();

	/* Clear the interrupt. */
	TSR1 &= ~0x01;
	}

	#endif
	/-----------------------------------------------------------/

	/*
	* Setup timer 1 compare match to generate a tick interrupt.
	*/
	static void prvSetupTimerInterrupt( void )
	{
	const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;

	/* Turn the module on. */
	MSTPCR &= ~portMSTP13;

	/* Configure timer 1. */
	TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH \| portCLOCK_DIV_64;

	/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
	TGR1A = ulCompareMatch;

	/* Start the timer and enable the interrupt - we can do this here as
	interrupts are globally disabled when this function is called. */
	TIER1 \|= portTGRA_INTERRUPT_ENABLE;
	TSTR \|= portTIMER_CHANNEL;
	}
	/-----------------------------------------------------------/