FreeRTOS/Source/portable/GCC/H8S2329/port.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.

     FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
     http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

     ***************************************************************************
      *                                                                       *
      *    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 Real Time Engineers Ltd., 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, books, training, latest versions,
     license and Real Time Engineers Ltd. contact details.

     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
     including FreeRTOS+Trace - an indispensable productivity tool, and our new
     fully thread aware and reentrant UDP/IP stack.

     http://www.OpenRTOS.com - 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.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.
 */

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"


 /*-----------------------------------------------------------
  * Implementation of functions defined in portable.h for the H8S port.
  *----------------------------------------------------------*/


 /*-----------------------------------------------------------*/

 /* When the task starts interrupts should be enabled. */
 #define portINITIAL_CCR			( ( portSTACK_TYPE ) 0x00 )

 /* Hardware specific constants used to generate the RTOS tick from the TPU. */
 #define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( unsigned char ) 0x20 )
 #define portCLOCK_DIV_64				( ( unsigned char ) 0x03 )
 #define portCLOCK_DIV					( ( unsigned long ) 64 )
 #define portTGRA_INTERRUPT_ENABLE		( ( unsigned char ) 0x01 )
 #define portTIMER_CHANNEL				( ( unsigned char ) 0x02 )
 #define portMSTP13						( ( unsigned short ) 0x2000 )

 /*
  * Setup TPU channel one for the RTOS tick at the requested frequency.
  */
 static void prvSetupTimerInterrupt( void );

 /*
  * The ISR used by portYIELD(). This is installed as a trap handler.
  */
 void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );

 /*-----------------------------------------------------------*/

 /*
  * See header file for description.
  */
 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
 {
 unsigned long ulValue;

 	/* This requires an even address. */
 	ulValue = ( unsigned long ) pxTopOfStack;
 	if( ulValue & 1UL )
 	{
 		pxTopOfStack = pxTopOfStack - 1;
 	}

 	/* Place a few bytes of known values on the bottom of the stack.
 	This is just useful for debugging. */
 	pxTopOfStack--;
 	*pxTopOfStack = 0xaa;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xbb;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xcc;
 	pxTopOfStack--;
 	*pxTopOfStack = 0xdd;

 	/* The initial stack mimics an interrupt stack.  First there is the program
 	counter (24 bits). */
 	ulValue = ( unsigned long ) pxCode;

 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

 	/* Followed by the CCR. */
 	pxTopOfStack--;
 	*pxTopOfStack = portINITIAL_CCR;

 	/* Next all the general purpose registers - with the parameters being passed
 	in ER0.  The parameter order must match that used by the compiler when the
 	"saveall" function attribute is used. */

 	/* ER6 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x66;

 	/* ER0 */
 	ulValue = ( unsigned long ) pvParameters;

 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
 	pxTopOfStack--;
 	ulValue >>= 8UL;
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

 	/* ER1 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x11;

 	/* ER2 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x22;

 	/* ER3 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x33;

 	/* ER4 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x44;

 	/* ER5 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;
 	pxTopOfStack--;
 	*pxTopOfStack = 0x55;

 	return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/

 portBASE_TYPE xPortStartScheduler( void )
 {
 extern void * pxCurrentTCB;

 	/* Setup the hardware to generate the tick. */
 	prvSetupTimerInterrupt();

 	/* Restore the context of the first task that is going to run.  This
 	mirrors the function epilogue code generated by the compiler when the
 	"saveall" function attribute is used. */
 	asm volatile (
 					"MOV.L		@_pxCurrentTCB, ER6			\n\t"
 					"MOV.L		@ER6, ER7					\n\t"
 					"LDM.L     	@SP+, (ER4-ER5)				\n\t"
 					"LDM.L     	@SP+, (ER0-ER3)				\n\t"
 					"MOV.L     	@ER7+, ER6					\n\t"
 					"RTE									\n\t"
 				);

 	( void ) pxCurrentTCB;

 	/* Should not get here. */
 	return pdTRUE;
 }
 /*-----------------------------------------------------------*/

 void vPortEndScheduler( void )
 {
 	/* It is unlikely that the h8 port will get stopped. */
 }
 /*-----------------------------------------------------------*/

 /*
  * Manual context switch.  This is a trap handler.  The "saveall" function
  * attribute is used so the context is saved by the compiler prologue.  All
  * we have to do is save the stack pointer.
  */
 void vPortYield( void )
 {
 	portSAVE_STACK_POINTER();
 		vTaskSwitchContext();
 	portRESTORE_STACK_POINTER();
 }
 /*-----------------------------------------------------------*/

 /*
  * The interrupt handler installed for the RTOS tick depends on whether the
  * preemptive or cooperative scheduler is being used.
  */
 #if( configUSE_PREEMPTION == 1 )

 	/*
 	 * The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
 	 * The function prologue saves the context so all we have to do is save
 	 * the stack pointer.
 	 */
 	void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
 	void vTickISR( void )
 	{
 		portSAVE_STACK_POINTER();

 		vTaskIncrementTick();
 		vTaskSwitchContext();

 		/* Clear the interrupt. */
 		TSR1 &= ~0x01;

 		portRESTORE_STACK_POINTER();
 	}

 #else

 	/*
 	 * The cooperative scheduler is being used so all we have to do is
 	 * periodically increment the tick.  This can just be a normal ISR and
 	 * the "saveall" attribute is not required.
 	 */
 	void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
 	void vTickISR( void )
 	{
 		vTaskIncrementTick();

 		/* Clear the interrupt. */
 		TSR1 &= ~0x01;
 	}

 #endif
 /*-----------------------------------------------------------*/

 /*
  * Setup timer 1 compare match to generate a tick interrupt.
  */
 static void prvSetupTimerInterrupt( void )
 {
 const unsigned long ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;

 	/* Turn the module on. */
 	MSTPCR &= ~portMSTP13;

 	/* Configure timer 1. */
 	TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64;

 	/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
 	TGR1A = ulCompareMatch;

 	/* Start the timer and enable the interrupt - we can do this here as
 	interrupts are globally disabled when this function is called. */
 	TIER1 |= portTGRA_INTERRUPT_ENABLE;
 	TSTR |= portTIMER_CHANNEL;
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.

	FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
	http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

	***************************************************************************
	* *
	* 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 Real Time Engineers Ltd., 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, books, training, latest versions,
	license and Real Time Engineers Ltd. contact details.

	http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
	including FreeRTOS+Trace - an indispensable productivity tool, and our new
	fully thread aware and reentrant UDP/IP stack.

	http://www.OpenRTOS.com - 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.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.
	*/

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"


	/*-----------------------------------------------------------
	* Implementation of functions defined in portable.h for the H8S port.
	----------------------------------------------------------/


	/-----------------------------------------------------------/

	/* When the task starts interrupts should be enabled. */
	#define portINITIAL_CCR ( ( portSTACK_TYPE ) 0x00 )

	/* Hardware specific constants used to generate the RTOS tick from the TPU. */
	#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( unsigned char ) 0x20 )
	#define portCLOCK_DIV_64 ( ( unsigned char ) 0x03 )
	#define portCLOCK_DIV ( ( unsigned long ) 64 )
	#define portTGRA_INTERRUPT_ENABLE ( ( unsigned char ) 0x01 )
	#define portTIMER_CHANNEL ( ( unsigned char ) 0x02 )
	#define portMSTP13 ( ( unsigned short ) 0x2000 )

	/*
	* Setup TPU channel one for the RTOS tick at the requested frequency.
	*/
	static void prvSetupTimerInterrupt( void );

	/*
	* The ISR used by portYIELD(). This is installed as a trap handler.
	*/
	void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) );

	/-----------------------------------------------------------/

	/*
	* See header file for description.
	*/
	portSTACK_TYPE pxPortInitialiseStack( portSTACK_TYPE pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
	{
	unsigned long ulValue;

	/* This requires an even address. */
	ulValue = ( unsigned long ) pxTopOfStack;
	if( ulValue & 1UL )
	{
	pxTopOfStack = pxTopOfStack - 1;
	}

	/* Place a few bytes of known values on the bottom of the stack.
	This is just useful for debugging. */
	pxTopOfStack--;
	*pxTopOfStack = 0xaa;
	pxTopOfStack--;
	*pxTopOfStack = 0xbb;
	pxTopOfStack--;
	*pxTopOfStack = 0xcc;
	pxTopOfStack--;
	*pxTopOfStack = 0xdd;

	/* The initial stack mimics an interrupt stack. First there is the program
	counter (24 bits). */
	ulValue = ( unsigned long ) pxCode;

	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

	/* Followed by the CCR. */
	pxTopOfStack--;
	*pxTopOfStack = portINITIAL_CCR;

	/* Next all the general purpose registers - with the parameters being passed
	in ER0. The parameter order must match that used by the compiler when the
	"saveall" function attribute is used. */

	/* ER6 */
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;
	pxTopOfStack--;
	*pxTopOfStack = 0x66;

	/* ER0 */
	ulValue = ( unsigned long ) pvParameters;

	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );
	pxTopOfStack--;
	ulValue >>= 8UL;
	*pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

	/* ER1 */
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;
	pxTopOfStack--;
	*pxTopOfStack = 0x11;

	/* ER2 */
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;
	pxTopOfStack--;
	*pxTopOfStack = 0x22;

	/* ER3 */
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;
	pxTopOfStack--;
	*pxTopOfStack = 0x33;

	/* ER4 */
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;
	pxTopOfStack--;
	*pxTopOfStack = 0x44;

	/* ER5 */
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;
	pxTopOfStack--;
	*pxTopOfStack = 0x55;

	return pxTopOfStack;
	}
	/-----------------------------------------------------------/

	portBASE_TYPE xPortStartScheduler( void )
	{
	extern void * pxCurrentTCB;

	/* Setup the hardware to generate the tick. */
	prvSetupTimerInterrupt();

	/* Restore the context of the first task that is going to run. This
	mirrors the function epilogue code generated by the compiler when the
	"saveall" function attribute is used. */
	asm volatile (
	"MOV.L @_pxCurrentTCB, ER6 \n\t"
	"MOV.L @ER6, ER7 \n\t"
	"LDM.L @SP+, (ER4-ER5) \n\t"
	"LDM.L @SP+, (ER0-ER3) \n\t"
	"MOV.L @ER7+, ER6 \n\t"
	"RTE \n\t"
	);

	( void ) pxCurrentTCB;

	/* Should not get here. */
	return pdTRUE;
	}
	/-----------------------------------------------------------/

	void vPortEndScheduler( void )
	{
	/* It is unlikely that the h8 port will get stopped. */
	}
	/-----------------------------------------------------------/

	/*
	* Manual context switch. This is a trap handler. The "saveall" function
	* attribute is used so the context is saved by the compiler prologue. All
	* we have to do is save the stack pointer.
	*/
	void vPortYield( void )
	{
	portSAVE_STACK_POINTER();
	vTaskSwitchContext();
	portRESTORE_STACK_POINTER();
	}
	/-----------------------------------------------------------/

	/*
	* The interrupt handler installed for the RTOS tick depends on whether the
	* preemptive or cooperative scheduler is being used.
	*/
	#if( configUSE_PREEMPTION == 1 )

	/*
	* The preemptive scheduler is used so the ISR calls vTaskSwitchContext().
	* The function prologue saves the context so all we have to do is save
	* the stack pointer.
	*/
	void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) );
	void vTickISR( void )
	{
	portSAVE_STACK_POINTER();

	vTaskIncrementTick();
	vTaskSwitchContext();

	/* Clear the interrupt. */
	TSR1 &= ~0x01;

	portRESTORE_STACK_POINTER();
	}

	#else

	/*
	* The cooperative scheduler is being used so all we have to do is
	* periodically increment the tick. This can just be a normal ISR and
	* the "saveall" attribute is not required.
	*/
	void vTickISR( void ) __attribute__ ( ( interrupt_handler ) );
	void vTickISR( void )
	{
	vTaskIncrementTick();

	/* Clear the interrupt. */
	TSR1 &= ~0x01;
	}

	#endif
	/-----------------------------------------------------------/

	/*
	* Setup timer 1 compare match to generate a tick interrupt.
	*/
	static void prvSetupTimerInterrupt( void )
	{
	const unsigned long ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV;

	/* Turn the module on. */
	MSTPCR &= ~portMSTP13;

	/* Configure timer 1. */
	TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH \| portCLOCK_DIV_64;

	/* Configure the compare match value for a tick of configTICK_RATE_HZ. */
	TGR1A = ulCompareMatch;

	/* Start the timer and enable the interrupt - we can do this here as
	interrupts are globally disabled when this function is called. */
	TIER1 \|= portTGRA_INTERRUPT_ENABLE;
	TSTR \|= portTIMER_CHANNEL;
	}
	/-----------------------------------------------------------/