| /* | |
| 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. | |
| */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #include "mb91467d.h" | |
| /*-----------------------------------------------------------*/ | |
| /* We require the address of the pxCurrentTCB variable, but don't want to know | |
| any details of its type. */ | |
| typedef void tskTCB; | |
| extern volatile tskTCB * volatile pxCurrentTCB; | |
| /*-----------------------------------------------------------*/ | |
| #pragma asm | |
| #macro SaveContext | |
| ORCCR #0x20 ;Switch to user stack | |
| ST RP,@-R15 ;Store RP | |
| STM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Store R7-R0 | |
| STM1 (R14,R13,R12,R11,R10,R9,R8) ;Store R14-R8 | |
| ST MDH, @-R15 ;Store MDH | |
| ST MDL, @-R15 ;Store MDL | |
| ANDCCR #0xDF ;Switch back to system stack | |
| LD @R15+,R0 ;Store PC to R0 | |
| ORCCR #0x20 ;Switch to user stack | |
| ST R0,@-R15 ;Store PC to User stack | |
| ANDCCR #0xDF ;Switch back to system stack | |
| LD @R15+,R0 ;Store PS to R0 | |
| ORCCR #0x20 ;Switch to user stack | |
| ST R0,@-R15 ;Store PS to User stack | |
| LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address | |
| LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address | |
| ST R15,@R0 ;Store USP to pxCurrentTCB->pxTopOfStack | |
| ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR | |
| #endm | |
| #macro RestoreContext | |
| LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address | |
| LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address | |
| ORCCR #0x20 ;Switch to user stack | |
| LD @R0, R15 ;Restore USP from pxCurrentTCB->pxTopOfStack | |
| LD @R15+,R0 ;Store PS to R0 | |
| ANDCCR #0xDF ;Switch to system stack | |
| ST R0,@-R15 ;Store PS to system stack | |
| ORCCR #0x20 ;Switch to user stack | |
| LD @R15+,R0 ;Store PC to R0 | |
| ANDCCR #0xDF ;Switch to system stack | |
| ST R0,@-R15 ;Store PC to system stack | |
| ORCCR #0x20 ;Switch back to retrieve the remaining context | |
| LD @R15+, MDL ;Restore MDL | |
| LD @R15+, MDH ;Restore MDH | |
| LDM1 (R14,R13,R12,R11,R10,R9,R8) ;Restore R14-R8 | |
| LDM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Restore R7-R0 | |
| LD @R15+, RP ;Restore RP | |
| ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR | |
| #endm | |
| #pragma endasm | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Perform hardware setup to enable ticks from timer 1, | |
| */ | |
| static void prvSetupTimerInterrupt( 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 ) | |
| { | |
| /* Place a few bytes of known values on the bottom of the stack. | |
| This is just useful for debugging. */ | |
| *pxTopOfStack = 0x11111111; | |
| pxTopOfStack--; | |
| *pxTopOfStack = 0x22222222; | |
| pxTopOfStack--; | |
| *pxTopOfStack = 0x33333333; | |
| pxTopOfStack--; | |
| /* This is a redundant push to the stack, it may be required if | |
| in some implementations of the compiler the parameter to the task | |
| is passed on to the stack rather than in R4 register. */ | |
| *pxTopOfStack = (portSTACK_TYPE)(pvParameters); | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00000000; /* RP */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00007777; /* R7 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00006666; /* R6 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00005555; /* R5 */ | |
| pxTopOfStack--; | |
| /* In the current implementation of the compiler the first | |
| parameter to the task (or function) is passed via R4 parameter | |
| to the task, hence the pvParameters pointer is copied into the R4 | |
| register. See compiler manual section 4.6.2 for more information. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) (pvParameters); /* R4 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00003333; /* R3 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00002222; /* R2 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00001111; /* R1 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00000001; /* R0 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x0000EEEE; /* R14 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x0000DDDD; /* R13 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x0000CCCC; /* R12 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x0000BBBB; /* R11 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x0000AAAA; /* R10 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00009999; /* R9 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00008888; /* R8 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x11110000; /* MDH */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x22220000; /* MDL */ | |
| pxTopOfStack--; | |
| /* The start of the task code. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */ | |
| pxTopOfStack--; | |
| /* PS - User Mode, USP, ILM=31, Interrupts enabled */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x001F0030; /* PS */ | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| portBASE_TYPE xPortStartScheduler( void ) | |
| { | |
| /* Setup the hardware to generate the tick. */ | |
| prvSetupTimerInterrupt(); | |
| /* Restore the context of the first task that is going to run. */ | |
| #pragma asm | |
| RestoreContext | |
| #pragma endasm | |
| /* Simulate a function call end as generated by the compiler. We will now | |
| jump to the start of the task the context of which we have just restored. */ | |
| __asm(" reti "); | |
| /* Should not get here. */ | |
| return pdFAIL; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) | |
| { | |
| /* Not implemented - unlikely to ever be required as there is nothing to | |
| return to. */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvSetupTimerInterrupt( void ) | |
| { | |
| /* The peripheral clock divided by 32 is used by the timer. */ | |
| const unsigned short usReloadValue = ( unsigned short ) ( ( ( configPER_CLOCK_HZ / configTICK_RATE_HZ ) / 32UL ) - 1UL ); | |
| /* Setup RLT0 to generate a tick interrupt. */ | |
| TMCSR0_CNTE = 0; /* Count Disable */ | |
| TMCSR0_CSL = 0x2; /* CLKP/32 */ | |
| TMCSR0_MOD = 0; /* Software trigger */ | |
| TMCSR0_RELD = 1; /* Reload */ | |
| TMCSR0_UF = 0; /* Clear underflow flag */ | |
| TMRLR0 = usReloadValue; | |
| TMCSR0_INTE = 1; /* Interrupt Enable */ | |
| TMCSR0_CNTE = 1; /* Count Enable */ | |
| TMCSR0_TRG = 1; /* Trigger */ | |
| PORTEN = 0x3; /* Port Enable */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| #if configUSE_PREEMPTION == 1 | |
| /* | |
| * Tick ISR for preemptive scheduler. The tick count is incremented | |
| * after the context is saved. Then the context is switched if required, | |
| * and last the context of the task which is to be resumed is restored. | |
| */ | |
| #pragma asm | |
| .global _ReloadTimer0_IRQHandler | |
| _ReloadTimer0_IRQHandler: | |
| ANDCCR #0xEF ;Disable Interrupts | |
| SaveContext ;Save context | |
| ORCCR #0x10 ;Re-enable Interrupts | |
| LDI #0xFFFB,R1 | |
| LDI #_tmcsr0, R0 | |
| AND R1,@R0 ;Clear RLT0 interrupt flag | |
| CALL32 _vTaskIncrementTick,R12 ;Increment Tick | |
| CALL32 _vTaskSwitchContext,R12 ;Switch context if required | |
| ANDCCR #0xEF ;Disable Interrupts | |
| RestoreContext ;Restore context | |
| ORCCR #0x10 ;Re-enable Interrupts | |
| RETI | |
| #pragma endasm | |
| #else | |
| /* | |
| * Tick ISR for the cooperative scheduler. All this does is increment the | |
| * tick count. We don't need to switch context, this can only be done by | |
| * manual calls to taskYIELD(); | |
| */ | |
| __interrupt void ReloadTimer0_IRQHandler( void ) | |
| { | |
| /* Clear RLT0 interrupt flag */ | |
| TMCSR0_UF = 0; | |
| vTaskIncrementTick(); | |
| } | |
| #endif | |
| /* | |
| * Manual context switch. We can use a __nosavereg attribute as the context | |
| * would be saved by PortSAVE_CONTEXT(). The context is switched and then | |
| * the context of the new task is restored saved. | |
| */ | |
| #pragma asm | |
| .global _vPortYieldDelayed | |
| _vPortYieldDelayed: | |
| ANDCCR #0xEF ;Disable Interrupts | |
| SaveContext ;Save context | |
| ORCCR #0x10 ;Re-enable Interrupts | |
| LDI #_dicr, R0 | |
| BANDL #0x0E, @R0 ;Clear Delayed interrupt flag | |
| CALL32 _vTaskSwitchContext,R12 ;Switch context if required | |
| ANDCCR #0xEF ;Disable Interrupts | |
| RestoreContext ;Restore context | |
| ORCCR #0x10 ;Re-enable Interrupts | |
| RETI | |
| #pragma endasm | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Manual context switch. We can use a __nosavereg attribute as the context | |
| * would be saved by PortSAVE_CONTEXT(). The context is switched and then | |
| * the context of the new task is restored saved. | |
| */ | |
| #pragma asm | |
| .global _vPortYield | |
| _vPortYield: | |
| SaveContext ;Save context | |
| CALL32 _vTaskSwitchContext,R12 ;Switch context if required | |
| RestoreContext ;Restore context | |
| RETI | |
| #pragma endasm | |
| /*-----------------------------------------------------------*/ | |