| /* |
| * 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 |
| * |
| */ |
| |
| /*----------------------------------------------------------- |
| * Implementation of functions defined in portable.h for the RXv3 DPFPU port. |
| *----------------------------------------------------------*/ |
| |
| #warning Testing for DFPU support in this port is not yet complete |
| |
| /* Scheduler includes. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* Library includes. */ |
| #include "string.h" |
| |
| /* Hardware specifics. */ |
| #if ( configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H == 1 ) |
| |
| #include "platform.h" |
| |
| #else /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ |
| |
| #include "iodefine.h" |
| |
| #endif /* configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H */ |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* Tasks should start with interrupts enabled and in Supervisor mode, therefore |
| * PSW is set with U and I set, and PM and IPL clear. */ |
| #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) |
| #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) |
| #define portINITIAL_DPSW ( ( StackType_t ) 0x00000100 ) |
| #define portINITIAL_DCMR ( ( StackType_t ) 0x00000000 ) |
| #define portINITIAL_DECNT ( ( StackType_t ) 0x00000001 ) |
| |
| /* Tasks are not created with a DPFPU context, but can be given a DPFPU context |
| * after they have been created. A variable is stored as part of the tasks context |
| * that holds portNO_DPFPU_CONTEXT if the task does not have a DPFPU context, or |
| * any other value if the task does have a DPFPU context. */ |
| #define portNO_DPFPU_CONTEXT ( ( StackType_t ) 0 ) |
| #define portHAS_DPFPU_CONTEXT ( ( StackType_t ) 1 ) |
| |
| /* The space on the stack required to hold the DPFPU data registers. This is 16 |
| * 64-bit registers. */ |
| #define portDPFPU_DATA_REGISTER_WORDS ( 16 * 2 ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Function to start the first task executing - written in asm code as direct |
| * access to registers is required. |
| */ |
| static void prvStartFirstTask( void ); |
| |
| /* |
| * Software interrupt handler. Performs the actual context switch (saving and |
| * restoring of registers). Written in asm code as direct register access is |
| * required. |
| */ |
| __interrupt void vSoftwareInterruptISR( void ); |
| |
| /* |
| * The tick ISR handler. The peripheral used is configured by the application |
| * via a hook/callback function. |
| */ |
| __interrupt void vTickISR( void ); |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* Saved as part of the task context. If ulPortTaskHasDPFPUContext is non-zero |
| * then a DPFPU context must be saved and restored for the task. */ |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| |
| StackType_t ulPortTaskHasDPFPUContext = portNO_DPFPU_CONTEXT; |
| |
| #endif /* configUSE_TASK_DPFPU_SUPPORT */ |
| |
| /* This is accessed by the inline assembler functions so is file scope for |
| * convenience. */ |
| extern void * pxCurrentTCB; |
| extern void vTaskSwitchContext( void ); |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * See header file for description. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) |
| { |
| /* R0 is not included as it is the stack pointer. */ |
| |
| *pxTopOfStack = 0x00; |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_PSW; |
| pxTopOfStack--; |
| *pxTopOfStack = ( StackType_t ) pxCode; |
| |
| /* When debugging it can be useful if every register is set to a known |
| * value. Otherwise code space can be saved by just setting the registers |
| * that need to be set. */ |
| #ifdef USE_FULL_REGISTER_INITIALISATION |
| { |
| pxTopOfStack--; |
| *pxTopOfStack = 0xffffffff; /* r15. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0xeeeeeeee; |
| pxTopOfStack--; |
| *pxTopOfStack = 0xdddddddd; |
| pxTopOfStack--; |
| *pxTopOfStack = 0xcccccccc; |
| pxTopOfStack--; |
| *pxTopOfStack = 0xbbbbbbbb; |
| pxTopOfStack--; |
| *pxTopOfStack = 0xaaaaaaaa; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x99999999; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x88888888; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x77777777; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x66666666; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x55555555; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x44444444; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x33333333; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x22222222; |
| pxTopOfStack--; |
| } |
| #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ |
| { |
| pxTopOfStack -= 15; |
| } |
| #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ |
| |
| *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_FPSW; |
| pxTopOfStack--; |
| *pxTopOfStack = 0x11111111; /* Accumulator 1. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x22222222; /* Accumulator 1. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x33333333; /* Accumulator 1. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x44444444; /* Accumulator 0. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x55555555; /* Accumulator 0. */ |
| pxTopOfStack--; |
| *pxTopOfStack = 0x66666666; /* Accumulator 0. */ |
| |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| { |
| /* The task will start without a DPFPU context. A task that |
| * uses the DPFPU hardware must call vPortTaskUsesDPFPU() before |
| * executing any floating point instructions. */ |
| pxTopOfStack--; |
| *pxTopOfStack = portNO_DPFPU_CONTEXT; |
| } |
| #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) |
| { |
| /* The task will start with a DPFPU context. Leave enough |
| * space for the registers - and ensure they are initialised if desired. */ |
| #ifdef USE_FULL_REGISTER_INITIALISATION |
| { |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1515.1515; /* DR15. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1414.1414; /* DR14. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1313.1313; /* DR13. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1212.1212; /* DR12. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1111.1111; /* DR11. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 1010.1010; /* DR10. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 909.0909; /* DR9. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 808.0808; /* DR8. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 707.0707; /* DR7. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 606.0606; /* DR6. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 505.0505; /* DR5. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 404.0404; /* DR4. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 303.0303; /* DR3. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 202.0202; /* DR2. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 101.0101; /* DR1. */ |
| pxTopOfStack -= 2; |
| *(double *)pxTopOfStack = 9876.54321;/* DR0. */ |
| } |
| #else /* ifdef USE_FULL_REGISTER_INITIALISATION */ |
| { |
| pxTopOfStack -= portDPFPU_DATA_REGISTER_WORDS; |
| memset( pxTopOfStack, 0x00, portDPFPU_DATA_REGISTER_WORDS * sizeof( StackType_t ) ); |
| } |
| #endif /* ifdef USE_FULL_REGISTER_INITIALISATION */ |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_DECNT; /* DECNT. */ |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_DCMR; /* DCMR. */ |
| pxTopOfStack--; |
| *pxTopOfStack = portINITIAL_DPSW; /* DPSW. */ |
| } |
| #elif ( configUSE_TASK_DPFPU_SUPPORT == 0 ) |
| { |
| /* Omit DPFPU support. */ |
| } |
| #else /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ |
| { |
| #error Invalid configUSE_TASK_DPFPU_SUPPORT setting - configUSE_TASK_DPFPU_SUPPORT must be set to 0, 1, 2, or left undefined. |
| } |
| #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| |
| void vPortTaskUsesDPFPU( void ) |
| { |
| /* A task is registering the fact that it needs a DPFPU context. Set the |
| * DPFPU flag (which is saved as part of the task context). */ |
| ulPortTaskHasDPFPUContext = portHAS_DPFPU_CONTEXT; |
| } |
| |
| #endif /* configUSE_TASK_DPFPU_SUPPORT */ |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) |
| { |
| extern void vApplicationSetupTimerInterrupt( void ); |
| |
| /* Use pxCurrentTCB just so it does not get optimised away. */ |
| if( pxCurrentTCB != NULL ) |
| { |
| /* 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(); |
| |
| /* Enable the software interrupt. */ |
| _IEN( _ICU_SWINT ) = 1; |
| |
| /* Ensure the software interrupt is clear. */ |
| _IR( _ICU_SWINT ) = 0; |
| |
| /* Ensure the software interrupt is set to the kernel priority. */ |
| _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; |
| |
| /* Start the first task. */ |
| prvStartFirstTask(); |
| } |
| |
| /* Should not get here. */ |
| return pdFAIL; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* Not implemented in ports where there is nothing to return to. |
| * Artificially force an assert. */ |
| configASSERT( pxCurrentTCB == NULL ); |
| |
| /* The following line is just to prevent the symbol getting optimised away. */ |
| ( void ) vTaskSwitchContext(); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| static void prvStartFirstTask( void ) |
| { |
| __asm volatile |
| ( |
| |
| /* When starting the scheduler there is nothing that needs moving to the |
| * interrupt stack because the function is not called from an interrupt. |
| * Just ensure the current stack is the user stack. */ |
| "SETPSW U \n"\ |
| |
| |
| /* Obtain the location of the stack associated with which ever task |
| * pxCurrentTCB is currently pointing to. */ |
| "MOV.L #_pxCurrentTCB, R15 \n"\ |
| "MOV.L [R15], R15 \n"\ |
| "MOV.L [R15], R0 \n"\ |
| |
| |
| /* Restore the registers from the stack of the task pointed to by |
| * pxCurrentTCB. */ |
| |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| |
| /* The restored ulPortTaskHasDPFPUContext is to be zero here. |
| * So, it is never necessary to restore the DPFPU context here. */ |
| "POP R15 \n"\ |
| "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ |
| "MOV.L R15, [R14] \n"\ |
| |
| #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) |
| |
| /* Restore the DPFPU context. */ |
| "DPOPM.L DPSW-DECNT \n"\ |
| "DPOPM.D DR0-DR15 \n"\ |
| |
| #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ |
| |
| "POP R15 \n"\ |
| |
| /* Accumulator low 32 bits. */ |
| "MVTACLO R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator high 32 bits. */ |
| "MVTACHI R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator guard. */ |
| "MVTACGU R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator low 32 bits. */ |
| "MVTACLO R15, A1 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator high 32 bits. */ |
| "MVTACHI R15, A1 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator guard. */ |
| "MVTACGU R15, A1 \n"\ |
| "POP R15 \n"\ |
| |
| /* Floating point status word. */ |
| "MVTC R15, FPSW \n"\ |
| |
| /* R1 to R15 - R0 is not included as it is the SP. */ |
| "POPM R1-R15 \n"\ |
| |
| /* This pops the remaining registers. */ |
| "RTE \n"\ |
| "NOP \n"\ |
| "NOP \n" |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #pragma vector = VECT( ICU, SWINT ) |
| __interrupt void vSoftwareInterruptISR( void ) |
| { |
| __asm volatile |
| ( |
| /* Re-enable interrupts. */ |
| "SETPSW I \n"\ |
| |
| |
| /* Move the data that was automatically pushed onto the interrupt stack when |
| * the interrupt occurred from the interrupt stack to the user stack. |
| * |
| * R15 is saved before it is clobbered. */ |
| "PUSH.L R15 \n"\ |
| |
| /* Read the user stack pointer. */ |
| "MVFC USP, R15 \n"\ |
| |
| /* Move the address down to the data being moved. */ |
| "SUB #12, R15 \n"\ |
| "MVTC R15, USP \n"\ |
| |
| /* Copy the data across, R15, then PC, then PSW. */ |
| "MOV.L [ R0 ], [ R15 ] \n"\ |
| "MOV.L 4[ R0 ], 4[ R15 ] \n"\ |
| "MOV.L 8[ R0 ], 8[ R15 ] \n"\ |
| |
| /* Move the interrupt stack pointer to its new correct position. */ |
| "ADD #12, R0 \n"\ |
| |
| /* All the rest of the registers are saved directly to the user stack. */ |
| "SETPSW U \n"\ |
| |
| /* Save the rest of the general registers (R15 has been saved already). */ |
| "PUSHM R1-R14 \n"\ |
| |
| /* Save the FPSW and accumulators. */ |
| "MVFC FPSW, R15 \n"\ |
| "PUSH.L R15 \n"\ |
| "MVFACGU #0, A1, R15 \n"\ |
| "PUSH.L R15 \n"\ |
| "MVFACHI #0, A1, R15 \n"\ |
| "PUSH.L R15 \n"\ |
| "MVFACLO #0, A1, R15 \n" /* Low order word. */ \ |
| "PUSH.L R15 \n"\ |
| "MVFACGU #0, A0, R15 \n"\ |
| "PUSH.L R15 \n"\ |
| "MVFACHI #0, A0, R15 \n"\ |
| "PUSH.L R15 \n"\ |
| "MVFACLO #0, A0, R15 \n" /* Low order word. */ \ |
| "PUSH.L R15 \n"\ |
| |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| |
| /* Does the task have a DPFPU context that needs saving? If |
| * ulPortTaskHasDPFPUContext is 0 then no. */ |
| "MOV.L #_ulPortTaskHasDPFPUContext, R15 \n"\ |
| "MOV.L [R15], R15 \n"\ |
| "CMP #0, R15 \n"\ |
| |
| /* Save the DPFPU context, if any. */ |
| "BEQ.B __lab1 \n"\ |
| "DPUSHM.D DR0-DR15 \n"\ |
| "DPUSHM.L DPSW-DECNT \n"\ |
| "__lab1: \n"\ |
| |
| /* Save ulPortTaskHasDPFPUContext itself. */ |
| "PUSH.L R15 \n"\ |
| |
| #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) |
| |
| /* Save the DPFPU context, always. */ |
| "DPUSHM.D DR0-DR15 \n"\ |
| "DPUSHM.L DPSW-DECNT \n"\ |
| |
| #endif /* if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ |
| |
| |
| /* Save the stack pointer to the TCB. */ |
| "MOV.L #_pxCurrentTCB, R15 \n"\ |
| "MOV.L [ R15 ], R15 \n"\ |
| "MOV.L R0, [ R15 ] \n"\ |
| |
| |
| /* Ensure the interrupt mask is set to the syscall priority while the kernel |
| * structures are being accessed. */ |
| "MVTIPL %0 \n"\ |
| |
| /* Select the next task to run. */ |
| "BSR.A _vTaskSwitchContext \n"\ |
| |
| /* Reset the interrupt mask as no more data structure access is required. */ |
| "MVTIPL %1 \n"\ |
| |
| |
| /* Load the stack pointer of the task that is now selected as the Running |
| * state task from its TCB. */ |
| "MOV.L #_pxCurrentTCB,R15 \n"\ |
| "MOV.L [ R15 ], R15 \n"\ |
| "MOV.L [ R15 ], R0 \n"\ |
| |
| |
| /* Restore the context of the new task. The PSW (Program Status Word) and |
| * PC will be popped by the RTE instruction. */ |
| |
| #if ( configUSE_TASK_DPFPU_SUPPORT == 1 ) |
| |
| /* Is there a DPFPU context to restore? If the restored |
| * ulPortTaskHasDPFPUContext is zero then no. */ |
| "POP R15 \n"\ |
| "MOV.L #_ulPortTaskHasDPFPUContext, R14 \n"\ |
| "MOV.L R15, [R14] \n"\ |
| "CMP #0, R15 \n"\ |
| |
| /* Restore the DPFPU context, if any. */ |
| "BEQ.B __lab2 \n"\ |
| "DPOPM.L DPSW-DECNT \n"\ |
| "DPOPM.D DR0-DR15 \n"\ |
| "__lab2: \n"\ |
| |
| #elif ( configUSE_TASK_DPFPU_SUPPORT == 2 ) |
| |
| /* Restore the DPFPU context, always. */ |
| "DPOPM.L DPSW-DECNT \n"\ |
| "DPOPM.D DR0-DR15 \n"\ |
| |
| #endif /* if( configUSE_TASK_DPFPU_SUPPORT == 1 ) */ |
| |
| "POP R15 \n"\ |
| |
| /* Accumulator low 32 bits. */ |
| "MVTACLO R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator high 32 bits. */ |
| "MVTACHI R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator guard. */ |
| "MVTACGU R15, A0 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator low 32 bits. */ |
| "MVTACLO R15, A1 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator high 32 bits. */ |
| "MVTACHI R15, A1 \n"\ |
| "POP R15 \n"\ |
| |
| /* Accumulator guard. */ |
| "MVTACGU R15, A1 \n"\ |
| "POP R15 \n"\ |
| "MVTC R15, FPSW \n"\ |
| "POPM R1-R15 \n"\ |
| "RTE \n"\ |
| "NOP \n"\ |
| "NOP " |
| portCDT_NO_PARSE( :: ) "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ), "i" ( configKERNEL_INTERRUPT_PRIORITY ) |
| ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| #pragma vector = _VECT( configTICK_VECTOR ) |
| __interrupt void vTickISR( void ) |
| { |
| /* Re-enable interrupts. */ |
| __enable_interrupt(); |
| |
| /* Increment the tick, and perform any processing the new tick value |
| * necessitates. Ensure IPL is at the max syscall value first. */ |
| __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); |
| { |
| if( xTaskIncrementTick() != pdFALSE ) |
| { |
| taskYIELD(); |
| } |
| } |
| __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); |
| } |
| /*-----------------------------------------------------------*/ |
