/* | |
FreeRTOS V8.2.3 - Copyright (C) 2015 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 | |
*************************************************************************** | |
* * | |
* 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 * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
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! | |
*/ | |
/*----------------------------------------------------------- | |
* Implementation of functions defined in portable.h for the RX600 port. | |
*----------------------------------------------------------*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Library includes. */ | |
#include "string.h" | |
/* Hardware specifics. */ | |
#include "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 ) | |
/*-----------------------------------------------------------*/ | |
/* The following lines are to ensure vSoftwareInterruptEntry can be referenced, | |
and therefore installed in the vector table, when the FreeRTOS code is built | |
as a library. */ | |
extern BaseType_t vSoftwareInterruptEntry; | |
const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; | |
/*-----------------------------------------------------------*/ | |
/* | |
* 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. | |
*/ | |
static void prvYieldHandler( void ); | |
/* | |
* The entry point for the software interrupt handler. This is the function | |
* that calls the inline asm function prvYieldHandler(). It is installed in | |
* the vector table, but the code that installs it is in prvYieldHandler rather | |
* than using a #pragma. | |
*/ | |
void vSoftwareInterruptISR( void ); | |
/*-----------------------------------------------------------*/ | |
/* 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 | |
{ | |
pxTopOfStack -= 15; | |
} | |
#endif | |
*pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ | |
pxTopOfStack--; | |
*pxTopOfStack = portINITIAL_FPSW; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x12345678; /* Accumulator. */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x87654321; /* Accumulator. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
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(); | |
} | |
/* Just to make sure the function is not optimised away. */ | |
( void ) vSoftwareInterruptISR(); | |
/* Should not get here. */ | |
return pdFAIL; | |
} | |
/*-----------------------------------------------------------*/ | |
#pragma inline_asm prvStartFirstTask | |
static void prvStartFirstTask( void ) | |
{ | |
/* 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 | |
/* Obtain the location of the stack associated with which ever task | |
pxCurrentTCB is currently pointing to. */ | |
MOV.L #_pxCurrentTCB, R15 | |
MOV.L [R15], R15 | |
MOV.L [R15], R0 | |
/* Restore the registers from the stack of the task pointed to by | |
pxCurrentTCB. */ | |
POP R15 | |
MVTACLO R15 /* Accumulator low 32 bits. */ | |
POP R15 | |
MVTACHI R15 /* Accumulator high 32 bits. */ | |
POP R15 | |
MVTC R15,FPSW /* Floating point status word. */ | |
POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ | |
RTE /* This pops the remaining registers. */ | |
NOP | |
NOP | |
} | |
/*-----------------------------------------------------------*/ | |
#pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) | |
void vTickISR( void ) | |
{ | |
/* Increment the tick, and perform any processing the new tick value | |
necessitates. */ | |
set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); | |
{ | |
if( xTaskIncrementTick() != pdFALSE ) | |
{ | |
taskYIELD(); | |
} | |
} | |
set_ipl( configKERNEL_INTERRUPT_PRIORITY ); | |
} | |
/*-----------------------------------------------------------*/ | |
void vSoftwareInterruptISR( void ) | |
{ | |
prvYieldHandler(); | |
} | |
/*-----------------------------------------------------------*/ | |
#pragma inline_asm prvYieldHandler | |
static void prvYieldHandler( void ) | |
{ | |
/* Re-enable interrupts. */ | |
SETPSW I | |
/* 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 | |
/* Read the user stack pointer. */ | |
MVFC USP, R15 | |
/* Move the address down to the data being moved. */ | |
SUB #12, R15 | |
MVTC R15, USP | |
/* Copy the data across. */ | |
MOV.L [ R0 ], [ R15 ] ; R15 | |
MOV.L 4[ R0 ], 4[ R15 ] ; PC | |
MOV.L 8[ R0 ], 8[ R15 ] ; PSW | |
/* Move the interrupt stack pointer to its new correct position. */ | |
ADD #12, R0 | |
/* All the rest of the registers are saved directly to the user stack. */ | |
SETPSW U | |
/* Save the rest of the general registers (R15 has been saved already). */ | |
PUSHM R1-R14 | |
/* Save the FPSW and accumulator. */ | |
MVFC FPSW, R15 | |
PUSH.L R15 | |
MVFACHI R15 | |
PUSH.L R15 | |
MVFACMI R15 ; Middle order word. | |
SHLL #16, R15 ; Shifted left as it is restored to the low order word. | |
PUSH.L R15 | |
/* Save the stack pointer to the TCB. */ | |
MOV.L #_pxCurrentTCB, R15 | |
MOV.L [ R15 ], R15 | |
MOV.L R0, [ R15 ] | |
/* Ensure the interrupt mask is set to the syscall priority while the kernel | |
structures are being accessed. */ | |
MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY | |
/* Select the next task to run. */ | |
BSR.A _vTaskSwitchContext | |
/* Reset the interrupt mask as no more data structure access is required. */ | |
MVTIPL #configKERNEL_INTERRUPT_PRIORITY | |
/* Load the stack pointer of the task that is now selected as the Running | |
state task from its TCB. */ | |
MOV.L #_pxCurrentTCB,R15 | |
MOV.L [ R15 ], R15 | |
MOV.L [ R15 ], R0 | |
/* Restore the context of the new task. The PSW (Program Status Word) and | |
PC will be popped by the RTE instruction. */ | |
POP R15 | |
MVTACLO R15 | |
POP R15 | |
MVTACHI R15 | |
POP R15 | |
MVTC R15,FPSW | |
POPM R1-R15 | |
RTE | |
NOP | |
NOP | |
} | |
/*-----------------------------------------------------------*/ | |
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(); | |
} | |
/*-----------------------------------------------------------*/ | |