/* | |
FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
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. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong? * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, training, latest information, | |
license and contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool. | |
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell | |
the code with commercial support, indemnification, and middleware, under | |
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also | |
provide a safety engineered and independently SIL3 certified version under | |
the SafeRTOS brand: http://www.SafeRTOS.com. | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* The critical nesting value is initialised to a non zero value to ensure | |
interrupts don't accidentally become enabled before the scheduler is started. */ | |
#define portINITIAL_CRITICAL_NESTING ( ( unsigned short ) 10 ) | |
/* Initial PSW value allocated to a newly created task. | |
* 1100011000000000 | |
* ||||||||-------------- Fill byte | |
* |||||||--------------- Carry Flag cleared | |
* |||||----------------- In-service priority Flags set to low level | |
* ||||------------------ Register bank Select 0 Flag cleared | |
* |||------------------- Auxiliary Carry Flag cleared | |
* ||-------------------- Register bank Select 1 Flag cleared | |
* |--------------------- Zero Flag set | |
* ---------------------- Global Interrupt Flag set (enabled) | |
*/ | |
#define portPSW ( 0xc6UL ) | |
/* The address of the pxCurrentTCB variable, but don't know or need to know its | |
type. */ | |
typedef void tskTCB; | |
extern volatile tskTCB * volatile pxCurrentTCB; | |
/* Each task maintains a count of the critical section nesting depth. Each time | |
a critical section is entered the count is incremented. Each time a critical | |
section is exited the count is decremented - with interrupts only being | |
re-enabled if the count is zero. | |
usCriticalNesting will get set to zero when the scheduler starts, but must | |
not be initialised to zero as that could cause problems during the startup | |
sequence. */ | |
volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING; | |
/*-----------------------------------------------------------*/ | |
/* | |
* Sets up the periodic ISR used for the RTOS tick. | |
*/ | |
static void prvSetupTimerInterrupt( void ); | |
/* | |
* Defined in portasm.s87, this function starts the scheduler by loading the | |
* context of the first task to run. | |
*/ | |
extern void vPortStartFirstTask( void ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* Initialise the stack of a task to look exactly as if a call to | |
* portSAVE_CONTEXT had been called. | |
* | |
* See the header file portable.h. | |
*/ | |
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
{ | |
unsigned long *pulLocal; | |
#if __DATA_MODEL__ == __DATA_MODEL_FAR__ | |
{ | |
/* Parameters are passed in on the stack, and written using a 32bit value | |
hence a space is left for the second two bytes. */ | |
pxTopOfStack--; | |
/* Write in the parameter value. */ | |
pulLocal = ( unsigned long * ) pxTopOfStack; | |
*pulLocal = ( unsigned long ) pvParameters; | |
pxTopOfStack--; | |
/* These values are just spacers. The return address of the function | |
would normally be written here. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd; | |
pxTopOfStack--; | |
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd; | |
pxTopOfStack--; | |
/* The start address / PSW value is also written in as a 32bit value, | |
so leave a space for the second two bytes. */ | |
pxTopOfStack--; | |
/* Task function start address combined with the PSW. */ | |
pulLocal = ( unsigned long * ) pxTopOfStack; | |
*pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) ); | |
pxTopOfStack--; | |
/* An initial value for the AX register. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111; | |
pxTopOfStack--; | |
} | |
#else | |
{ | |
/* Task function address is written to the stack first. As it is | |
written as a 32bit value a space is left on the stack for the second | |
two bytes. */ | |
pxTopOfStack--; | |
/* Task function start address combined with the PSW. */ | |
pulLocal = ( unsigned long * ) pxTopOfStack; | |
*pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) ); | |
pxTopOfStack--; | |
/* The parameter is passed in AX. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; | |
pxTopOfStack--; | |
} | |
#endif | |
/* An initial value for the HL register. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222; | |
pxTopOfStack--; | |
/* CS and ES registers. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) 0x0F00; | |
pxTopOfStack--; | |
/* Finally the remaining general purpose registers DE and BC */ | |
*pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE; | |
pxTopOfStack--; | |
*pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC; | |
pxTopOfStack--; | |
/* Finally the critical section nesting count is set to zero when the task | |
first starts. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; | |
/* Return a pointer to the top of the stack that has beene generated so it | |
can be stored in the task control block for the task. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
/* Setup the hardware to generate the tick. Interrupts are disabled when | |
this function is called. */ | |
prvSetupTimerInterrupt(); | |
/* Restore the context of the first task that is going to run. */ | |
vPortStartFirstTask(); | |
/* Execution should not reach here as the tasks are now running! */ | |
return pdTRUE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* It is unlikely that the RL78/G13 port will get stopped. If required simply | |
disable the tick interrupt here. */ | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupTimerInterrupt( void ) | |
{ | |
const unsigned short usClockHz = 15000UL; /* Internal clock. */ | |
const unsigned short usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL; | |
/* Use the internal 15K clock. */ | |
OSMC = 0x16U; | |
/* Supply the RTC clock. */ | |
RTCEN = 1U; | |
/* Disable ITMC operation. */ | |
ITMC = 0x0000; | |
/* Disable INTIT interrupt. */ | |
ITMK = 1U; | |
/* Set INTIT high priority */ | |
ITPR1 = 1U; | |
ITPR0 = 1U; | |
/* Set interval. */ | |
ITMC = usCompareMatch; | |
/* Clear INIT interrupt. */ | |
ITIF = 0U; | |
/* Enable INTIT interrupt. */ | |
ITMK = 0U; | |
/* Enable IT operation. */ | |
ITMC |= 0x8000; | |
} | |
/*-----------------------------------------------------------*/ | |