| /* |
| * 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 V3.0.0 |
| |
| Changes from V3.0.1 |
| */ |
| #ifndef PORTMACRO_H |
| #define PORTMACRO_H |
| |
| #if !defined(_SERIES) || _SERIES != 18 |
| #error "WizC supports FreeRTOS on the Microchip PIC18-series only" |
| #endif |
| |
| #if !defined(QUICKCALL) || QUICKCALL != 1 |
| #error "QuickCall must be enabled (see ProjectOptions/Optimisations)" |
| #endif |
| |
| #include <stddef.h> |
| #include <pic.h> |
| |
| #define portCHAR char |
| #define portFLOAT float |
| #define portDOUBLE portFLOAT |
| #define portLONG long |
| #define portSHORT short |
| #define portSTACK_TYPE uint8_t |
| #define portBASE_TYPE char |
| |
| typedef portSTACK_TYPE StackType_t; |
| typedef signed char BaseType_t; |
| typedef unsigned char UBaseType_t; |
| |
| |
| #if( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) |
| typedef uint16_t TickType_t; |
| #define portMAX_DELAY ( TickType_t ) ( 0xFFFF ) |
| #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS ) |
| typedef uint32_t TickType_t; |
| #define portMAX_DELAY ( TickType_t ) ( 0xFFFFFFFFUL ) |
| #else |
| #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width. |
| #endif |
| |
| #define portBYTE_ALIGNMENT 1 |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Constant used for context switch macro when we require the interrupt |
| * enable state to be forced when the interrupted task is switched back in. |
| */ |
| #define portINTERRUPTS_FORCED (0x01) |
| |
| /* |
| * Constant used for context switch macro when we require the interrupt |
| * enable state to be unchanged when the interrupted task is switched back in. |
| */ |
| #define portINTERRUPTS_UNCHANGED (0x00) |
| |
| /* Initial interrupt enable state for newly created tasks. This value is |
| * used when a task switches in for the first time. |
| */ |
| #define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED) |
| |
| /* |
| * Macros to modify the global interrupt enable bit in INTCON. |
| */ |
| #define portDISABLE_INTERRUPTS() \ |
| do \ |
| { \ |
| bGIE=0; \ |
| } while(bGIE) // MicroChip recommends this check! |
| |
| #define portENABLE_INTERRUPTS() \ |
| do \ |
| { \ |
| bGIE=1; \ |
| } while(0) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Critical section macros. |
| */ |
| extern uint8_t ucCriticalNesting; |
| |
| #define portNO_CRITICAL_SECTION_NESTING ( ( uint8_t ) 0 ) |
| |
| #define portENTER_CRITICAL() \ |
| do \ |
| { \ |
| portDISABLE_INTERRUPTS(); \ |
| \ |
| /* \ |
| * Now interrupts are disabled ucCriticalNesting \ |
| * can be accessed directly. Increment \ |
| * ucCriticalNesting to keep a count of how \ |
| * many times portENTER_CRITICAL() has been called. \ |
| */ \ |
| ucCriticalNesting++; \ |
| } while(0) |
| |
| #define portEXIT_CRITICAL() \ |
| do \ |
| { \ |
| if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \ |
| { \ |
| /* \ |
| * Decrement the nesting count as we are leaving a \ |
| * critical section. \ |
| */ \ |
| ucCriticalNesting--; \ |
| } \ |
| \ |
| /* \ |
| * If the nesting level has reached zero then \ |
| * interrupts should be re-enabled. \ |
| */ \ |
| if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ |
| { \ |
| portENABLE_INTERRUPTS(); \ |
| } \ |
| } while(0) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * The minimal stacksize is calculated on the first reference of |
| * portMINIMAL_STACK_SIZE. Some input to this calculation is |
| * compiletime determined, other input is port-defined (see port.c) |
| */ |
| extern uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void ); |
| extern uint16_t usCalcMinStackSize; |
| |
| #define portMINIMAL_STACK_SIZE \ |
| ((usCalcMinStackSize == 0) \ |
| ? usPortCALCULATE_MINIMAL_STACK_SIZE() \ |
| : usCalcMinStackSize ) |
| |
| /* |
| * WizC uses a downgrowing stack |
| */ |
| #define portSTACK_GROWTH ( -1 ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| /* |
| * Macro's that pushes all the registers that make up the context of a task onto |
| * the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU |
| * are only saved/restored on devices with more than 64kB (32k Words) ROM. |
| * |
| * The stackpointer is held by WizC in FSR2 and points to the first free byte. |
| * WizC uses a "downgrowing" stack. There is no framepointer. |
| * |
| * We keep track of the interruptstatus using ucCriticalNesting. When this |
| * value equals zero, interrupts have to be enabled upon exit from the |
| * portRESTORE_CONTEXT macro. |
| * |
| * If this is called from an ISR then the interrupt enable bits must have been |
| * set for the ISR to ever get called. Therefore we want to save |
| * ucCriticalNesting with value zero. This means the interrupts will again be |
| * re-enabled when the interrupted task is switched back in. |
| * |
| * If this is called from a manual context switch (i.e. from a call to yield), |
| * then we want to keep the current value of ucCriticalNesting so it is restored |
| * with its current value. This allows a yield from within a critical section. |
| * |
| * The compiler uses some locations at the bottom of RAM for temporary |
| * storage. The compiler may also have been instructed to optimize |
| * function-parameters and local variables to global storage. The compiler |
| * uses an area called LocOpt for this wizC feature. |
| * The total overheadstorage has to be saved in it's entirety as part of |
| * a task context. These macro's store/restore from data address 0x0000 to |
| * (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1). |
| * OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated |
| * assembler definitions. |
| */ |
| |
| #define portSAVE_CONTEXT( ucInterruptForced ) \ |
| do \ |
| { \ |
| portDISABLE_INTERRUPTS(); \ |
| \ |
| _Pragma("asm") \ |
| ; \ |
| ; Push the relevant SFR's onto the task's stack \ |
| ; \ |
| movff STATUS,POSTDEC2 \ |
| movff WREG,POSTDEC2 \ |
| movff BSR,POSTDEC2 \ |
| movff PRODH,POSTDEC2 \ |
| movff PRODL,POSTDEC2 \ |
| movff FSR0H,POSTDEC2 \ |
| movff FSR0L,POSTDEC2 \ |
| movff FSR1H,POSTDEC2 \ |
| movff FSR1L,POSTDEC2 \ |
| movff TABLAT,POSTDEC2 \ |
| if __ROMSIZE > 0x8000 \ |
| movff TBLPTRU,POSTDEC2 \ |
| endif \ |
| movff TBLPTRH,POSTDEC2 \ |
| movff TBLPTRL,POSTDEC2 \ |
| if __ROMSIZE > 0x8000 \ |
| movff PCLATU,POSTDEC2 \ |
| endif \ |
| movff PCLATH,POSTDEC2 \ |
| ; \ |
| ; Store the compiler-scratch-area as described above. \ |
| ; \ |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ |
| clrf FSR0L,ACCESS \ |
| clrf FSR0H,ACCESS \ |
| _rtos_S1: \ |
| movff POSTINC0,POSTDEC2 \ |
| decfsz WREG,W,ACCESS \ |
| SMARTJUMP _rtos_S1 \ |
| ; \ |
| ; Save the pic call/return-stack belonging to the \ |
| ; current task by copying it to the task's software- \ |
| ; stack. We save the hardware stack pointer (which \ |
| ; is the number of addresses on the stack) in the \ |
| ; W-register first because we need it later and it \ |
| ; is modified in the save-loop by executing pop's. \ |
| ; After the loop the W-register is stored on the \ |
| ; stack, too. \ |
| ; \ |
| movf STKPTR,W,ACCESS \ |
| bz _rtos_s3 \ |
| _rtos_S2: \ |
| if __ROMSIZE > 0x8000 \ |
| movff TOSU,POSTDEC2 \ |
| endif \ |
| movff TOSH,POSTDEC2 \ |
| movff TOSL,POSTDEC2 \ |
| pop \ |
| tstfsz STKPTR,ACCESS \ |
| SMARTJUMP _rtos_S2 \ |
| _rtos_s3: \ |
| movwf POSTDEC2,ACCESS \ |
| ; \ |
| ; Next the value for ucCriticalNesting used by the \ |
| ; task is stored on the stack. When \ |
| ; (ucInterruptForced == portINTERRUPTS_FORCED), we save \ |
| ; it as 0 (portNO_CRITICAL_SECTION_NESTING). \ |
| ; \ |
| if ucInterruptForced == portINTERRUPTS_FORCED \ |
| clrf POSTDEC2,ACCESS \ |
| else \ |
| movff ucCriticalNesting,POSTDEC2 \ |
| endif \ |
| ; \ |
| ; Save the new top of the software stack in the TCB. \ |
| ; \ |
| movff pxCurrentTCB,FSR0L \ |
| movff pxCurrentTCB+1,FSR0H \ |
| movff FSR2L,POSTINC0 \ |
| movff FSR2H,POSTINC0 \ |
| _Pragma("asmend") \ |
| } while(0) |
| |
| /************************************************************/ |
| |
| /* |
| * This is the reverse of portSAVE_CONTEXT. |
| */ |
| #define portRESTORE_CONTEXT() \ |
| do \ |
| { \ |
| _Pragma("asm") \ |
| ; \ |
| ; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \ |
| ; \ |
| movff pxCurrentTCB,FSR0L \ |
| movff pxCurrentTCB+1,FSR0H \ |
| ; \ |
| ; De-reference FSR0 to set the address it holds into \ |
| ; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \ |
| ; is used by wizC as stackpointer. \ |
| ; \ |
| movff POSTINC0,FSR2L \ |
| movff POSTINC0,FSR2H \ |
| ; \ |
| ; Next, the value for ucCriticalNesting used by the \ |
| ; task is retrieved from the stack. \ |
| ; \ |
| movff PREINC2,ucCriticalNesting \ |
| ; \ |
| ; Rebuild the pic call/return-stack. The number of \ |
| ; return addresses is the next item on the task stack. \ |
| ; Save this number in PRODL. Then fetch the addresses \ |
| ; and store them on the hardwarestack. \ |
| ; The datasheets say we can't use movff here... \ |
| ; \ |
| movff PREINC2,PRODL // Use PRODL as tempregister \ |
| clrf STKPTR,ACCESS \ |
| _rtos_R1: \ |
| push \ |
| movf PREINC2,W,ACCESS \ |
| movwf TOSL,ACCESS \ |
| movf PREINC2,W,ACCESS \ |
| movwf TOSH,ACCESS \ |
| if __ROMSIZE > 0x8000 \ |
| movf PREINC2,W,ACCESS \ |
| movwf TOSU,ACCESS \ |
| else \ |
| clrf TOSU,ACCESS \ |
| endif \ |
| decfsz PRODL,F,ACCESS \ |
| SMARTJUMP _rtos_R1 \ |
| ; \ |
| ; Restore the compiler's working storage area to page 0 \ |
| ; \ |
| movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \ |
| movwf FSR0L,ACCESS \ |
| clrf FSR0H,ACCESS \ |
| _rtos_R2: \ |
| decf FSR0L,F,ACCESS \ |
| movff PREINC2,INDF0 \ |
| tstfsz FSR0L,ACCESS \ |
| SMARTJUMP _rtos_R2 \ |
| ; \ |
| ; Restore the sfr's forming the tasks context. \ |
| ; We cannot yet restore bsr, w and status because \ |
| ; we need these registers for a final test. \ |
| ; \ |
| movff PREINC2,PCLATH \ |
| if __ROMSIZE > 0x8000 \ |
| movff PREINC2,PCLATU \ |
| else \ |
| clrf PCLATU,ACCESS \ |
| endif \ |
| movff PREINC2,TBLPTRL \ |
| movff PREINC2,TBLPTRH \ |
| if __ROMSIZE > 0x8000 \ |
| movff PREINC2,TBLPTRU \ |
| else \ |
| clrf TBLPTRU,ACCESS \ |
| endif \ |
| movff PREINC2,TABLAT \ |
| movff PREINC2,FSR1L \ |
| movff PREINC2,FSR1H \ |
| movff PREINC2,FSR0L \ |
| movff PREINC2,FSR0H \ |
| movff PREINC2,PRODL \ |
| movff PREINC2,PRODH \ |
| ; \ |
| ; The return from portRESTORE_CONTEXT() depends on \ |
| ; the value of ucCriticalNesting. When it is zero, \ |
| ; interrupts need to be enabled. This is done via a \ |
| ; retfie instruction because we need the \ |
| ; interrupt-enabling and the return to the restored \ |
| ; task to be uninterruptible. \ |
| ; Because bsr, status and W are affected by the test \ |
| ; they are restored after the test. \ |
| ; \ |
| movlb ucCriticalNesting>>8 \ |
| tstfsz ucCriticalNesting,BANKED \ |
| SMARTJUMP _rtos_R4 \ |
| _rtos_R3: \ |
| movff PREINC2,BSR \ |
| movff PREINC2,WREG \ |
| movff PREINC2,STATUS \ |
| retfie 0 ; Return enabling interrupts \ |
| _rtos_R4: \ |
| movff PREINC2,BSR \ |
| movff PREINC2,WREG \ |
| movff PREINC2,STATUS \ |
| return 0 ; Return without affecting interrupts \ |
| _Pragma("asmend") \ |
| } while(0) |
| |
| /*-----------------------------------------------------------*/ |
| |
| #define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) |
| |
| /*-----------------------------------------------------------*/ |
| |
| extern void vPortYield( void ); |
| #define portYIELD() vPortYield() |
| |
| #define portNOP() _Pragma("asm") \ |
| nop \ |
| _Pragma("asmend") |
| |
| /*-----------------------------------------------------------*/ |
| |
| #define portTASK_FUNCTION( xFunction, pvParameters ) \ |
| void pointed xFunction( void *pvParameters ) \ |
| _Pragma(asmfunc xFunction) |
| |
| #define portTASK_FUNCTION_PROTO portTASK_FUNCTION |
| /*-----------------------------------------------------------*/ |
| |
| |
| #define volatile |
| #define register |
| |
| #endif /* PORTMACRO_H */ |
