| /* |
| * 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 |
| * |
| */ |
| |
| /* |
| * Changes from V4.2.1 |
| * |
| + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. |
| */ |
| |
| /*----------------------------------------------------------- |
| * Implementation of functions defined in portable.h for the PIC24 port. |
| *----------------------------------------------------------*/ |
| |
| /* Scheduler include files. */ |
| #include "FreeRTOS.h" |
| #include "task.h" |
| |
| /* Hardware specifics. */ |
| #define portBIT_SET 1 |
| #define portTIMER_PRESCALE 8 |
| #define portINITIAL_SR 0 |
| |
| /* Defined for backward compatability with project created prior to |
| * FreeRTOS.org V4.3.0. */ |
| #ifndef configKERNEL_INTERRUPT_PRIORITY |
| #define configKERNEL_INTERRUPT_PRIORITY 1 |
| #endif |
| |
| /* Use _T1Interrupt as the interrupt handler name if the application writer has |
| * not provided their own. */ |
| #ifndef configTICK_INTERRUPT_HANDLER |
| #define configTICK_INTERRUPT_HANDLER _T1Interrupt |
| #endif /* configTICK_INTERRUPT_HANDLER */ |
| |
| /* The program counter is only 23 bits. */ |
| #define portUNUSED_PR_BITS 0x7f |
| |
| /* Records the nesting depth of calls to portENTER_CRITICAL(). */ |
| UBaseType_t uxCriticalNesting = 0xef; |
| |
| #if configKERNEL_INTERRUPT_PRIORITY != 1 |
| #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) |
| #endif |
| |
| #if defined( __PIC24E__ ) || defined( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) |
| |
| #ifdef __HAS_EDS__ |
| #define portRESTORE_CONTEXT() \ |
| asm volatile ( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ |
| "MOV [W0], W15 \n" \ |
| "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ |
| "MOV W0, _uxCriticalNesting \n" \ |
| "POP DSWPAG \n" \ |
| "POP DSRPAG \n" \ |
| "POP CORCON \n" \ |
| "POP TBLPAG \n" \ |
| "POP RCOUNT \n" /* Restore the registers from the stack. */ \ |
| "POP W14 \n" \ |
| "POP.D W12 \n" \ |
| "POP.D W10 \n" \ |
| "POP.D W8 \n" \ |
| "POP.D W6 \n" \ |
| "POP.D W4 \n" \ |
| "POP.D W2 \n" \ |
| "POP.D W0 \n" \ |
| "POP SR " ); |
| #else /* __HAS_EDS__ */ |
| #define portRESTORE_CONTEXT() \ |
| asm volatile ( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ |
| "MOV [W0], W15 \n" \ |
| "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ |
| "MOV W0, _uxCriticalNesting \n" \ |
| "POP PSVPAG \n" \ |
| "POP CORCON \n" \ |
| "POP TBLPAG \n" \ |
| "POP RCOUNT \n" /* Restore the registers from the stack. */ \ |
| "POP W14 \n" \ |
| "POP.D W12 \n" \ |
| "POP.D W10 \n" \ |
| "POP.D W8 \n" \ |
| "POP.D W6 \n" \ |
| "POP.D W4 \n" \ |
| "POP.D W2 \n" \ |
| "POP.D W0 \n" \ |
| "POP SR " ); |
| #endif /* __HAS_EDS__ */ |
| #endif /* defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) */ |
| |
| #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) |
| |
| #define portRESTORE_CONTEXT() \ |
| asm volatile ( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ |
| "MOV [W0], W15 \n" \ |
| "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ |
| "MOV W0, _uxCriticalNesting \n" \ |
| "POP PSVPAG \n" \ |
| "POP CORCON \n" \ |
| "POP DOENDH \n" \ |
| "POP DOENDL \n" \ |
| "POP DOSTARTH \n" \ |
| "POP DOSTARTL \n" \ |
| "POP DCOUNT \n" \ |
| "POP ACCBU \n" \ |
| "POP ACCBH \n" \ |
| "POP ACCBL \n" \ |
| "POP ACCAU \n" \ |
| "POP ACCAH \n" \ |
| "POP ACCAL \n" \ |
| "POP TBLPAG \n" \ |
| "POP RCOUNT \n" /* Restore the registers from the stack. */ \ |
| "POP W14 \n" \ |
| "POP.D W12 \n" \ |
| "POP.D W10 \n" \ |
| "POP.D W8 \n" \ |
| "POP.D W6 \n" \ |
| "POP.D W4 \n" \ |
| "POP.D W2 \n" \ |
| "POP.D W0 \n" \ |
| "POP SR " ); |
| |
| #endif /* defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */ |
| |
| #ifndef portRESTORE_CONTEXT |
| #error Unrecognised device selected |
| |
| /* Note: dsPIC parts with EDS are not supported as there is no easy way to |
| * recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */ |
| #endif |
| |
| /* |
| * Setup the timer used to generate the tick interrupt. |
| */ |
| void vApplicationSetupTickTimerInterrupt( void ); |
| |
| /* |
| * See header file for description. |
| */ |
| StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, |
| TaskFunction_t pxCode, |
| void * pvParameters ) |
| { |
| uint16_t usCode; |
| UBaseType_t i; |
| |
| const StackType_t xInitialStack[] = |
| { |
| 0x1111, /* W1 */ |
| 0x2222, /* W2 */ |
| 0x3333, /* W3 */ |
| 0x4444, /* W4 */ |
| 0x5555, /* W5 */ |
| 0x6666, /* W6 */ |
| 0x7777, /* W7 */ |
| 0x8888, /* W8 */ |
| 0x9999, /* W9 */ |
| 0xaaaa, /* W10 */ |
| 0xbbbb, /* W11 */ |
| 0xcccc, /* W12 */ |
| 0xdddd, /* W13 */ |
| 0xeeee, /* W14 */ |
| 0xcdce, /* RCOUNT */ |
| 0xabac, /* TBLPAG */ |
| |
| /* dsPIC specific registers. */ |
| #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) |
| 0x0202, /* ACCAL */ |
| 0x0303, /* ACCAH */ |
| 0x0404, /* ACCAU */ |
| 0x0505, /* ACCBL */ |
| 0x0606, /* ACCBH */ |
| 0x0707, /* ACCBU */ |
| 0x0808, /* DCOUNT */ |
| 0x090a, /* DOSTARTL */ |
| 0x1010, /* DOSTARTH */ |
| 0x1110, /* DOENDL */ |
| 0x1212, /* DOENDH */ |
| #endif /* if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */ |
| }; |
| |
| /* Setup the stack as if a yield had occurred. |
| * |
| * Save the low bytes of the program counter. */ |
| usCode = ( uint16_t ) pxCode; |
| *pxTopOfStack = ( StackType_t ) usCode; |
| pxTopOfStack++; |
| |
| /* Save the high byte of the program counter. This will always be zero |
| * here as it is passed in a 16bit pointer. If the address is greater than |
| * 16 bits then the pointer will point to a jump table. */ |
| *pxTopOfStack = ( StackType_t ) 0; |
| pxTopOfStack++; |
| |
| /* Status register with interrupts enabled. */ |
| *pxTopOfStack = portINITIAL_SR; |
| pxTopOfStack++; |
| |
| /* Parameters are passed in W0. */ |
| *pxTopOfStack = ( StackType_t ) pvParameters; |
| pxTopOfStack++; |
| |
| for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ ) |
| { |
| *pxTopOfStack = xInitialStack[ i ]; |
| pxTopOfStack++; |
| } |
| |
| *pxTopOfStack = CORCON; |
| pxTopOfStack++; |
| |
| #if defined( __HAS_EDS__ ) |
| *pxTopOfStack = DSRPAG; |
| pxTopOfStack++; |
| *pxTopOfStack = DSWPAG; |
| pxTopOfStack++; |
| #else /* __HAS_EDS__ */ |
| *pxTopOfStack = PSVPAG; |
| pxTopOfStack++; |
| #endif /* __HAS_EDS__ */ |
| |
| /* Finally the critical nesting depth. */ |
| *pxTopOfStack = 0x00; |
| pxTopOfStack++; |
| |
| return pxTopOfStack; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| BaseType_t xPortStartScheduler( void ) |
| { |
| /* Setup a timer for the tick ISR. */ |
| vApplicationSetupTickTimerInterrupt(); |
| |
| /* Restore the context of the first task to run. */ |
| portRESTORE_CONTEXT(); |
| |
| /* Simulate the end of the yield function. */ |
| asm volatile ( "return" ); |
| |
| /* Should not reach here. */ |
| return pdTRUE; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEndScheduler( void ) |
| { |
| /* Not implemented in ports where there is nothing to return to. |
| * Artificially force an assert. */ |
| configASSERT( uxCriticalNesting == 1000UL ); |
| } |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Setup a timer for a regular tick. |
| */ |
| __attribute__( ( weak ) ) void vApplicationSetupTickTimerInterrupt( void ) |
| { |
| const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1; |
| |
| /* Prescale of 8. */ |
| T1CON = 0; |
| TMR1 = 0; |
| |
| PR1 = ( uint16_t ) ulCompareMatch; |
| |
| /* Setup timer 1 interrupt priority. */ |
| IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; |
| |
| /* Clear the interrupt as a starting condition. */ |
| IFS0bits.T1IF = 0; |
| |
| /* Enable the interrupt. */ |
| IEC0bits.T1IE = 1; |
| |
| /* Setup the prescale value. */ |
| T1CONbits.TCKPS0 = 1; |
| T1CONbits.TCKPS1 = 0; |
| |
| /* Start the timer. */ |
| T1CONbits.TON = 1; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortEnterCritical( void ) |
| { |
| portDISABLE_INTERRUPTS(); |
| uxCriticalNesting++; |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void vPortExitCritical( void ) |
| { |
| configASSERT( uxCriticalNesting ); |
| uxCriticalNesting--; |
| |
| if( uxCriticalNesting == 0 ) |
| { |
| portENABLE_INTERRUPTS(); |
| } |
| } |
| /*-----------------------------------------------------------*/ |
| |
| void __attribute__( ( __interrupt__, auto_psv ) ) configTICK_INTERRUPT_HANDLER( void ) |
| { |
| /* Clear the timer interrupt. */ |
| IFS0bits.T1IF = 0; |
| |
| if( xTaskIncrementTick() != pdFALSE ) |
| { |
| portYIELD(); |
| } |
| } |
| /*-----------------------------------------------------------*/ |