FreeRTOS/Source/portable/MPLAB/PIC32MX/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.
 */

 /*-----------------------------------------------------------
  * Implementation of functions defined in portable.h for the PIC32MX port.
   *----------------------------------------------------------*/

 #ifndef __XC__
     #error This port is designed to work with XC32.  Please update your C compiler version.
 #endif

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

 /* Hardware specifics. */
 #define portTIMER_PRESCALE	8
 #define portPRESCALE_BITS	1

 /* Bits within various registers. */
 #define portIE_BIT						( 0x00000001 )
 #define portEXL_BIT						( 0x00000002 )

 /* Bits within the CAUSE register. */
 #define portCORE_SW_0					( 0x00000100 )
 #define portCORE_SW_1					( 0x00000200 )

 /* The EXL bit is set to ensure interrupts do not occur while the context of
 the first task is being restored. */
 #define portINITIAL_SR					( portIE_BIT | portEXL_BIT )

 #ifndef configTICK_INTERRUPT_VECTOR
 	#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
 #endif

 /* Records the interrupt nesting depth.  This starts at one as it will be
 decremented to 0 when the first task starts. */
 volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;

 /* Stores the task stack pointer when a switch is made to use the system stack. */
 unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;

 /* The stack used by interrupt service routines that cause a context switch. */
 portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };

 /* The top of stack value ensures there is enough space to store 6 registers on
 the callers stack, as some functions seem to want to do this. */
 const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );

 /*
  * Place the prototype here to ensure the interrupt vector is correctly installed.
  * Note that because the interrupt is written in assembly, the IPL setting in the
  * following line of code has no effect.  The interrupt priority is set by the
  * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
  */
 extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );

 /*
  * The software interrupt handler that performs the yield.  Note that, because
  * the interrupt is written in assembly, the IPL setting in the following line of
  * code has no effect.  The interrupt priority is set by the call to
  * mConfigIntCoreSW0() in xPortStartScheduler().
  */
 void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );

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

 /*
  * See header file for description.
  */
 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
 {
 	/* Ensure byte alignment is maintained when leaving this function. */
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) 0x12345678;	/* Word to which the stack pointer will be left pointing after context restore. */
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR; /* CP0_STATUS */
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) pxCode; 		/* CP0_EPC */
 	pxTopOfStack--;

 	*pxTopOfStack = (portSTACK_TYPE) NULL;  		/* ra */
 	pxTopOfStack -= 15;

 	*pxTopOfStack = (portSTACK_TYPE) pvParameters; /* Parameters to pass in */
 	pxTopOfStack -= 14;

 	*pxTopOfStack = (portSTACK_TYPE) 0x00000000; 	/* critical nesting level - no longer used. */
 	pxTopOfStack--;

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

 /*
  * Setup a timer for a regular tick.  This function uses peripheral timer 1.
  * The function is declared weak so an application writer can use a different
  * timer by redefining this implementation.  If a different timer is used then
  * configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to
  * ensure the RTOS provided tick interrupt handler is installed on the correct
  * vector number.  When Timer 1 is used the vector number is defined as
  * _TIMER_1_VECTOR.
  */
 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
 {
 const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;

 	T1CON = 0x0000;
 	T1CONbits.TCKPS = portPRESCALE_BITS;
 	PR1 = ulCompareMatch;
 	IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;

 	/* Clear the interrupt as a starting condition. */
 	IFS0bits.T1IF = 0;

 	/* Enable the interrupt. */
 	IEC0bits.T1IE = 1;

 	/* Start the timer. */
 	T1CONbits.TON = 1;
 }
 /*-----------------------------------------------------------*/

 void vPortEndScheduler(void)
 {
 	/* It is unlikely that the scheduler for the PIC port will get stopped
 	once running.  If required disable the tick interrupt here, then return
 	to xPortStartScheduler(). */
 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 portBASE_TYPE xPortStartScheduler( void )
 {
 extern void vPortStartFirstTask( void );
 extern void *pxCurrentTCB;

 	/* Clear the software interrupt flag. */
 	IFS0CLR = _IFS0_CS0IF_MASK;

 	/* Set software timer priority. */
 	IPC0CLR = _IPC0_CS0IP_MASK;
 	IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION );

 	/* Enable software interrupt. */
 	IEC0CLR = _IEC0_CS0IE_MASK;
 	IEC0SET = 1 << _IEC0_CS0IE_POSITION;

 	/* Setup the timer to generate the tick.  Interrupts will have been
 	disabled by the time we get here. */
 	vApplicationSetupTickTimerInterrupt();

 	/* Kick off the highest priority task that has been created so far.
 	Its stack location is loaded into uxSavedTaskStackPointer. */
 	uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;
 	vPortStartFirstTask();

 	/* Should never get here as the tasks will now be executing. */
 	return pdFALSE;
 }
 /*-----------------------------------------------------------*/

 void vPortIncrementTick( void )
 {
 unsigned portBASE_TYPE uxSavedStatus;

 	uxSavedStatus = uxPortSetInterruptMaskFromISR();
 	vTaskIncrementTick();
 	vPortClearInterruptMaskFromISR( uxSavedStatus );

 	/* If we are using the preemptive scheduler then we might want to select
 	a different task to execute. */
 	#if configUSE_PREEMPTION == 1
 		_CP0_BIS_CAUSE( portCORE_SW_0 );
 	#endif /* configUSE_PREEMPTION */

 	/* Clear timer 1 interrupt. */
 	IFS0CLR = _IFS0_T1IF_MASK;
 }
 /*-----------------------------------------------------------*/

 unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void )
 {
 unsigned portBASE_TYPE uxSavedStatusRegister;

 	asm volatile ( "di" );
 	uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;
 	/* This clears the IPL bits, then sets them to
 	configMAX_SYSCALL_INTERRUPT_PRIORITY.  This function should not be called
 	from an interrupt that has a priority above
 	configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action
 	can only result in the IPL being unchanged or raised, and therefore never
 	lowered. */
 	_CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) );

 	return uxSavedStatusRegister;
 }
 /*-----------------------------------------------------------*/

 void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE uxSavedStatusRegister )
 {
 	_CP0_SET_STATUS( uxSavedStatusRegister );
 }
 /*-----------------------------------------------------------*/
	/*
	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.
	*/

	/*-----------------------------------------------------------
	* Implementation of functions defined in portable.h for the PIC32MX port.
	----------------------------------------------------------/

	#ifndef __XC__
	#error This port is designed to work with XC32. Please update your C compiler version.
	#endif

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

	/* Hardware specifics. */
	#define portTIMER_PRESCALE 8
	#define portPRESCALE_BITS 1

	/* Bits within various registers. */
	#define portIE_BIT ( 0x00000001 )
	#define portEXL_BIT ( 0x00000002 )

	/* Bits within the CAUSE register. */
	#define portCORE_SW_0 ( 0x00000100 )
	#define portCORE_SW_1 ( 0x00000200 )

	/* The EXL bit is set to ensure interrupts do not occur while the context of
	the first task is being restored. */
	#define portINITIAL_SR ( portIE_BIT \| portEXL_BIT )

	#ifndef configTICK_INTERRUPT_VECTOR
	#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
	#endif

	/* Records the interrupt nesting depth. This starts at one as it will be
	decremented to 0 when the first task starts. */
	volatile unsigned portBASE_TYPE uxInterruptNesting = 0x01;

	/* Stores the task stack pointer when a switch is made to use the system stack. */
	unsigned portBASE_TYPE uxSavedTaskStackPointer = 0;

	/* The stack used by interrupt service routines that cause a context switch. */
	portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };

	/* The top of stack value ensures there is enough space to store 6 registers on
	the callers stack, as some functions seem to want to do this. */
	const portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );

	/*
	* Place the prototype here to ensure the interrupt vector is correctly installed.
	* Note that because the interrupt is written in assembly, the IPL setting in the
	* following line of code has no effect. The interrupt priority is set by the
	* call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
	*/
	extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );

	/*
	* The software interrupt handler that performs the yield. Note that, because
	* the interrupt is written in assembly, the IPL setting in the following line of
	* code has no effect. The interrupt priority is set by the call to
	* mConfigIntCoreSW0() in xPortStartScheduler().
	*/
	void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );

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

	/*
	* See header file for description.
	*/
	portSTACK_TYPE pxPortInitialiseStack( portSTACK_TYPE pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
	{
	/* Ensure byte alignment is maintained when leaving this function. */
	pxTopOfStack--;

	*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
	pxTopOfStack--;

	pxTopOfStack = (portSTACK_TYPE) 0x12345678; / Word to which the stack pointer will be left pointing after context restore. */
	pxTopOfStack--;

	*pxTopOfStack = (portSTACK_TYPE) _CP0_GET_CAUSE();
	pxTopOfStack--;

	pxTopOfStack = (portSTACK_TYPE) portINITIAL_SR; / CP0_STATUS */
	pxTopOfStack--;

	pxTopOfStack = (portSTACK_TYPE) pxCode; / CP0_EPC */
	pxTopOfStack--;

	pxTopOfStack = (portSTACK_TYPE) NULL; / ra */
	pxTopOfStack -= 15;

	pxTopOfStack = (portSTACK_TYPE) pvParameters; / Parameters to pass in */
	pxTopOfStack -= 14;

	pxTopOfStack = (portSTACK_TYPE) 0x00000000; / critical nesting level - no longer used. */
	pxTopOfStack--;

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

	/*
	* Setup a timer for a regular tick. This function uses peripheral timer 1.
	* The function is declared weak so an application writer can use a different
	* timer by redefining this implementation. If a different timer is used then
	* configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to
	* ensure the RTOS provided tick interrupt handler is installed on the correct
	* vector number. When Timer 1 is used the vector number is defined as
	* _TIMER_1_VECTOR.
	*/
	__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
	{
	const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;

	T1CON = 0x0000;
	T1CONbits.TCKPS = portPRESCALE_BITS;
	PR1 = ulCompareMatch;
	IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;

	/* Clear the interrupt as a starting condition. */
	IFS0bits.T1IF = 0;

	/* Enable the interrupt. */
	IEC0bits.T1IE = 1;

	/* Start the timer. */
	T1CONbits.TON = 1;
	}
	/-----------------------------------------------------------/

	void vPortEndScheduler(void)
	{
	/* It is unlikely that the scheduler for the PIC port will get stopped
	once running. If required disable the tick interrupt here, then return
	to xPortStartScheduler(). */
	for( ;; );
	}
	/-----------------------------------------------------------/

	portBASE_TYPE xPortStartScheduler( void )
	{
	extern void vPortStartFirstTask( void );
	extern void *pxCurrentTCB;

	/* Clear the software interrupt flag. */
	IFS0CLR = _IFS0_CS0IF_MASK;

	/* Set software timer priority. */
	IPC0CLR = _IPC0_CS0IP_MASK;
	IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION );

	/* Enable software interrupt. */
	IEC0CLR = _IEC0_CS0IE_MASK;
	IEC0SET = 1 << _IEC0_CS0IE_POSITION;

	/* Setup the timer to generate the tick. Interrupts will have been
	disabled by the time we get here. */
	vApplicationSetupTickTimerInterrupt();

	/* Kick off the highest priority task that has been created so far.
	Its stack location is loaded into uxSavedTaskStackPointer. */
	uxSavedTaskStackPointer = ( unsigned portBASE_TYPE ) pxCurrentTCB;
	vPortStartFirstTask();

	/* Should never get here as the tasks will now be executing. */
	return pdFALSE;
	}
	/-----------------------------------------------------------/

	void vPortIncrementTick( void )
	{
	unsigned portBASE_TYPE uxSavedStatus;

	uxSavedStatus = uxPortSetInterruptMaskFromISR();
	vTaskIncrementTick();
	vPortClearInterruptMaskFromISR( uxSavedStatus );

	/* If we are using the preemptive scheduler then we might want to select
	a different task to execute. */
	#if configUSE_PREEMPTION == 1
	_CP0_BIS_CAUSE( portCORE_SW_0 );
	#endif /* configUSE_PREEMPTION */

	/* Clear timer 1 interrupt. */
	IFS0CLR = _IFS0_T1IF_MASK;
	}
	/-----------------------------------------------------------/

	unsigned portBASE_TYPE uxPortSetInterruptMaskFromISR( void )
	{
	unsigned portBASE_TYPE uxSavedStatusRegister;

	asm volatile ( "di" );
	uxSavedStatusRegister = _CP0_GET_STATUS() \| 0x01;
	/* This clears the IPL bits, then sets them to
	configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called
	from an interrupt that has a priority above
	configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action
	can only result in the IPL being unchanged or raised, and therefore never
	lowered. */
	_CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) \| ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) );

	return uxSavedStatusRegister;
	}
	/-----------------------------------------------------------/

	void vPortClearInterruptMaskFromISR( unsigned portBASE_TYPE uxSavedStatusRegister )
	{
	_CP0_SET_STATUS( uxSavedStatusRegister );
	}
	/-----------------------------------------------------------/