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