| /* | |
| FreeRTOS.org V5.4.0 - Copyright (C) 2003-2009 Richard Barry. | |
| This file is part of the FreeRTOS.org distribution. | |
| FreeRTOS.org 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 exception to the GPL is included to allow you to distribute a | |
| combined work that includes FreeRTOS.org without being obliged to provide | |
| the source code for any proprietary components. Alternative commercial | |
| license and support terms are also available upon request. See the | |
| licensing section of http://www.FreeRTOS.org for full details. | |
| FreeRTOS.org 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 along | |
| with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 | |
| Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
| *************************************************************************** | |
| * * | |
| * Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * This is a concise, step by step, 'hands on' guide that describes both * | |
| * general multitasking concepts and FreeRTOS specifics. It presents and * | |
| * explains numerous examples that are written using the FreeRTOS API. * | |
| * Full source code for all the examples is provided in an accompanying * | |
| * .zip file. * | |
| * * | |
| *************************************************************************** | |
| 1 tab == 4 spaces! | |
| Please ensure to read the configuration and relevant port sections of the | |
| online documentation. | |
| http://www.FreeRTOS.org - Documentation, latest information, license and | |
| contact details. | |
| http://www.SafeRTOS.com - A version that is certified for use in safety | |
| critical systems. | |
| http://www.OpenRTOS.com - Commercial support, development, porting, | |
| licensing and training services. | |
| */ | |
| /* | |
| Changes between V1.2.4 and V1.2.5 | |
| + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global | |
| interrupt flag setting. Using the two bits defined within | |
| portINITAL_INTERRUPT_STATE was causing the w register to get clobbered | |
| before the test was performed. | |
| Changes from V1.2.5 | |
| + Set the interrupt vector address to 0x08. Previously it was at the | |
| incorrect address for compatibility mode of 0x18. | |
| Changes from V2.1.1 | |
| + PCLATU and PCLATH are now saved as part of the context. This allows | |
| function pointers to be used within tasks. Thanks to Javier Espeche | |
| for the enhancement. | |
| Changes from V2.3.1 | |
| + TABLAT is now saved as part of the task context. | |
| Changes from V3.2.0 | |
| + TBLPTRU is now initialised to zero as the MPLAB compiler expects this | |
| value and does not write to the register. | |
| */ | |
| /* Scheduler include files. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* MPLAB library include file. */ | |
| #include "timers.h" | |
| /*----------------------------------------------------------- | |
| * Implementation of functions defined in portable.h for the PIC port. | |
| *----------------------------------------------------------*/ | |
| /* Hardware setup for tick. */ | |
| #define portTIMER_FOSC_SCALE ( ( unsigned portLONG ) 4 ) | |
| /* Initial interrupt enable state for newly created tasks. This value is | |
| copied into INTCON when a task switches in for the first time. */ | |
| #define portINITAL_INTERRUPT_STATE 0xc0 | |
| /* Just the bit within INTCON for the global interrupt flag. */ | |
| #define portGLOBAL_INTERRUPT_FLAG 0x80 | |
| /* Constant used for context switch macro when we require the interrupt | |
| enable state to be unchanged when the interrupted task is switched back in. */ | |
| #define portINTERRUPTS_UNCHANGED 0x00 | |
| /* Some memory areas get saved as part of the task context. These memory | |
| area's get used by the compiler for temporary storage, especially when | |
| performing mathematical operations, or when using 32bit data types. This | |
| constant defines the size of memory area which must be saved. */ | |
| #define portCOMPILER_MANAGED_MEMORY_SIZE ( ( unsigned portCHAR ) 0x13 ) | |
| /* 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; | |
| /* IO port constants. */ | |
| #define portBIT_SET ( ( unsigned portCHAR ) 1 ) | |
| #define portBIT_CLEAR ( ( unsigned portCHAR ) 0 ) | |
| /* | |
| * The serial port ISR's are defined in serial.c, but are called from portable | |
| * as they use the same vector as the tick ISR. | |
| */ | |
| void vSerialTxISR( void ); | |
| void vSerialRxISR( void ); | |
| /* | |
| * Perform hardware setup to enable ticks. | |
| */ | |
| static void prvSetupTimerInterrupt( void ); | |
| /* | |
| * ISR to maintain the tick, and perform tick context switches if the | |
| * preemptive scheduler is being used. | |
| */ | |
| static void prvTickISR( void ); | |
| /* | |
| * ISR placed on the low priority vector. This calls the appropriate ISR for | |
| * the actual interrupt. | |
| */ | |
| static void prvLowInterrupt( void ); | |
| /* | |
| * Macro that pushes all the registers that make up the context of a task onto | |
| * the stack, then saves the new top of stack into the TCB. | |
| * | |
| * If this is called from an ISR then the interrupt enable bits must have been | |
| * set for the ISR to ever get called. Therefore we want to save the INTCON | |
| * register with the enable bits forced to be set - and ucForcedInterruptFlags | |
| * must contain these bit settings. This means the interrupts will again be | |
| * enabled when the interrupted task is switched back in. | |
| * | |
| * If this is called from a manual context switch (i.e. from a call to yield), | |
| * then we want to save the INTCON so it is restored with its current state, | |
| * and ucForcedInterruptFlags must be 0. This allows a yield from within | |
| * a critical section. | |
| * | |
| * The compiler uses some locations at the bottom of the memory for temporary | |
| * storage during math and other computations. This is especially true if | |
| * 32bit data types are utilised (as they are by the scheduler). The .tmpdata | |
| * and MATH_DATA sections have to be stored in there entirety as part of a task | |
| * context. This macro stores from data address 0x00 to | |
| * portCOMPILER_MANAGED_MEMORY_SIZE. This is sufficient for the demo | |
| * applications but you should check the map file for your project to ensure | |
| * this is sufficient for your needs. It is not clear whether this size is | |
| * fixed for all compilations or has the potential to be program specific. | |
| */ | |
| #define portSAVE_CONTEXT( ucForcedInterruptFlags ) \ | |
| { \ | |
| _asm \ | |
| /* Save the status and WREG registers first, as these will get modified \ | |
| by the operations below. */ \ | |
| MOVFF WREG, PREINC1 \ | |
| MOVFF STATUS, PREINC1 \ | |
| /* Save the INTCON register with the appropriate bits forced if \ | |
| necessary - as described above. */ \ | |
| MOVFF INTCON, WREG \ | |
| IORLW ucForcedInterruptFlags \ | |
| MOVFF WREG, PREINC1 \ | |
| _endasm \ | |
| \ | |
| portDISABLE_INTERRUPTS(); \ | |
| \ | |
| _asm \ | |
| /* Store the necessary registers to the stack. */ \ | |
| MOVFF BSR, PREINC1 \ | |
| MOVFF FSR2L, PREINC1 \ | |
| MOVFF FSR2H, PREINC1 \ | |
| MOVFF FSR0L, PREINC1 \ | |
| MOVFF FSR0H, PREINC1 \ | |
| MOVFF TABLAT, PREINC1 \ | |
| MOVFF TBLPTRU, PREINC1 \ | |
| MOVFF TBLPTRH, PREINC1 \ | |
| MOVFF TBLPTRL, PREINC1 \ | |
| MOVFF PRODH, PREINC1 \ | |
| MOVFF PRODL, PREINC1 \ | |
| MOVFF PCLATU, PREINC1 \ | |
| MOVFF PCLATH, PREINC1 \ | |
| /* Store the .tempdata and MATH_DATA areas as described above. */ \ | |
| CLRF FSR0L, 0 \ | |
| CLRF FSR0H, 0 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF POSTINC0, PREINC1 \ | |
| MOVFF INDF0, PREINC1 \ | |
| MOVFF FSR0L, PREINC1 \ | |
| MOVFF FSR0H, PREINC1 \ | |
| /* Store the hardware stack pointer in a temp register before we \ | |
| modify it. */ \ | |
| MOVFF STKPTR, FSR0L \ | |
| _endasm \ | |
| \ | |
| /* Store each address from the hardware stack. */ \ | |
| while( STKPTR > ( unsigned portCHAR ) 0 ) \ | |
| { \ | |
| _asm \ | |
| MOVFF TOSL, PREINC1 \ | |
| MOVFF TOSH, PREINC1 \ | |
| MOVFF TOSU, PREINC1 \ | |
| POP \ | |
| _endasm \ | |
| } \ | |
| \ | |
| _asm \ | |
| /* Store the number of addresses on the hardware stack (from the \ | |
| temporary register). */ \ | |
| MOVFF FSR0L, PREINC1 \ | |
| MOVF PREINC1, 1, 0 \ | |
| _endasm \ | |
| \ | |
| /* Save the new top of the software stack in the TCB. */ \ | |
| _asm \ | |
| MOVFF pxCurrentTCB, FSR0L \ | |
| MOVFF pxCurrentTCB + 1, FSR0H \ | |
| MOVFF FSR1L, POSTINC0 \ | |
| MOVFF FSR1H, POSTINC0 \ | |
| _endasm \ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * This is the reverse of portSAVE_CONTEXT. See portSAVE_CONTEXT for more | |
| * details. | |
| */ | |
| #define portRESTORE_CONTEXT() \ | |
| { \ | |
| _asm \ | |
| /* Set FSR0 to point to pxCurrentTCB->pxTopOfStack. */ \ | |
| MOVFF pxCurrentTCB, FSR0L \ | |
| MOVFF pxCurrentTCB + 1, FSR0H \ | |
| \ | |
| /* De-reference FSR0 to set the address it holds into FSR1. \ | |
| (i.e. *( pxCurrentTCB->pxTopOfStack ) ). */ \ | |
| MOVFF POSTINC0, FSR1L \ | |
| MOVFF POSTINC0, FSR1H \ | |
| \ | |
| /* How many return addresses are there on the hardware stack? Discard \ | |
| the first byte as we are pointing to the next free space. */ \ | |
| MOVFF POSTDEC1, FSR0L \ | |
| MOVFF POSTDEC1, FSR0L \ | |
| _endasm \ | |
| \ | |
| /* Fill the hardware stack from our software stack. */ \ | |
| STKPTR = 0; \ | |
| \ | |
| while( STKPTR < FSR0L ) \ | |
| { \ | |
| _asm \ | |
| PUSH \ | |
| MOVF POSTDEC1, 0, 0 \ | |
| MOVWF TOSU, 0 \ | |
| MOVF POSTDEC1, 0, 0 \ | |
| MOVWF TOSH, 0 \ | |
| MOVF POSTDEC1, 0, 0 \ | |
| MOVWF TOSL, 0 \ | |
| _endasm \ | |
| } \ | |
| \ | |
| _asm \ | |
| /* Restore the .tmpdata and MATH_DATA memory. */ \ | |
| MOVFF POSTDEC1, FSR0H \ | |
| MOVFF POSTDEC1, FSR0L \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, POSTDEC0 \ | |
| MOVFF POSTDEC1, INDF0 \ | |
| /* Restore the other registers forming the tasks context. */ \ | |
| MOVFF POSTDEC1, PCLATH \ | |
| MOVFF POSTDEC1, PCLATU \ | |
| MOVFF POSTDEC1, PRODL \ | |
| MOVFF POSTDEC1, PRODH \ | |
| MOVFF POSTDEC1, TBLPTRL \ | |
| MOVFF POSTDEC1, TBLPTRH \ | |
| MOVFF POSTDEC1, TBLPTRU \ | |
| MOVFF POSTDEC1, TABLAT \ | |
| MOVFF POSTDEC1, FSR0H \ | |
| MOVFF POSTDEC1, FSR0L \ | |
| MOVFF POSTDEC1, FSR2H \ | |
| MOVFF POSTDEC1, FSR2L \ | |
| MOVFF POSTDEC1, BSR \ | |
| /* The next byte is the INTCON register. Read this into WREG as some \ | |
| manipulation is required. */ \ | |
| MOVFF POSTDEC1, WREG \ | |
| _endasm \ | |
| \ | |
| /* From the INTCON register, only the interrupt enable bits form part \ | |
| of the tasks context. It is perfectly legitimate for another task to \ | |
| have modified any other bits. We therefore only restore the top two bits. \ | |
| */ \ | |
| if( WREG & portGLOBAL_INTERRUPT_FLAG ) \ | |
| { \ | |
| _asm \ | |
| MOVFF POSTDEC1, STATUS \ | |
| MOVFF POSTDEC1, WREG \ | |
| /* Return enabling interrupts. */ \ | |
| RETFIE 0 \ | |
| _endasm \ | |
| } \ | |
| else \ | |
| { \ | |
| _asm \ | |
| MOVFF POSTDEC1, STATUS \ | |
| MOVFF POSTDEC1, WREG \ | |
| /* Return without effecting interrupts. The context may have \ | |
| been saved from a critical region. */ \ | |
| RETURN 0 \ | |
| _endasm \ | |
| } \ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * See header file for description. | |
| */ | |
| portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
| { | |
| unsigned portLONG ulAddress; | |
| unsigned portCHAR ucBlock; | |
| /* Place a few bytes of known values on the bottom of the stack. | |
| This is just useful for debugging. */ | |
| *pxTopOfStack = 0x11; | |
| pxTopOfStack++; | |
| *pxTopOfStack = 0x22; | |
| pxTopOfStack++; | |
| *pxTopOfStack = 0x33; | |
| pxTopOfStack++; | |
| /* Simulate how the stack would look after a call to vPortYield() generated | |
| by the compiler. | |
| First store the function parameters. This is where the task will expect to | |
| find them when it starts running. */ | |
| ulAddress = ( unsigned portLONG ) pvParameters; | |
| *pxTopOfStack = ( portSTACK_TYPE ) ( ulAddress & ( unsigned portLONG ) 0x00ff ); | |
| pxTopOfStack++; | |
| ulAddress >>= 8; | |
| *pxTopOfStack = ( portSTACK_TYPE ) ( ulAddress & ( unsigned portLONG ) 0x00ff ); | |
| pxTopOfStack++; | |
| /* Next we just leave a space. When a context is saved the stack pointer | |
| is incremented before it is used so as not to corrupt whatever the stack | |
| pointer is actually pointing to. This is especially necessary during | |
| function epilogue code generated by the compiler. */ | |
| *pxTopOfStack = 0x44; | |
| pxTopOfStack++; | |
| /* Next are all the registers that form part of the task context. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x66; /* WREG. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xcc; /* Status. */ | |
| pxTopOfStack++; | |
| /* INTCON is saved with interrupts enabled. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) portINITAL_INTERRUPT_STATE; /* INTCON */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x11; /* BSR. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x22; /* FSR2L. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x33; /* FSR2H. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x44; /* FSR0L. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x55; /* FSR0H. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x66; /* TABLAT. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* TBLPTRU. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x88; /* TBLPTRUH. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x99; /* TBLPTRUL. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xaa; /* PRODH. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xbb; /* PRODL. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* PCLATU. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* PCLATH. */ | |
| pxTopOfStack++; | |
| /* Next the .tmpdata and MATH_DATA sections. */ | |
| for( ucBlock = 0; ucBlock <= portCOMPILER_MANAGED_MEMORY_SIZE; ucBlock++ ) | |
| { | |
| *pxTopOfStack = ( portSTACK_TYPE ) ucBlock; | |
| *pxTopOfStack++; | |
| } | |
| /* Store the top of the global data section. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) portCOMPILER_MANAGED_MEMORY_SIZE; /* Low. */ | |
| pxTopOfStack++; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x00; /* High. */ | |
| pxTopOfStack++; | |
| /* The only function return address so far is the address of the | |
| task. */ | |
| ulAddress = ( unsigned portLONG ) pxCode; | |
| /* TOS low. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) ( ulAddress & ( unsigned portLONG ) 0x00ff ); | |
| pxTopOfStack++; | |
| ulAddress >>= 8; | |
| /* TOS high. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) ( ulAddress & ( unsigned portLONG ) 0x00ff ); | |
| pxTopOfStack++; | |
| ulAddress >>= 8; | |
| /* TOS even higher. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) ( ulAddress & ( unsigned portLONG ) 0x00ff ); | |
| pxTopOfStack++; | |
| /* Store the number of return addresses on the hardware stack - so far only | |
| the address of the task entry point. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 1; | |
| pxTopOfStack++; | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| portBASE_TYPE xPortStartScheduler( void ) | |
| { | |
| /* Setup a timer for the tick ISR is using the preemptive scheduler. */ | |
| prvSetupTimerInterrupt(); | |
| /* Restore the context of the first task to run. */ | |
| portRESTORE_CONTEXT(); | |
| /* Should not get here. Use the function name to stop compiler warnings. */ | |
| ( void ) prvLowInterrupt; | |
| ( void ) prvTickISR; | |
| return pdTRUE; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| 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(). */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Manual context switch. This is similar to the tick context switch, | |
| * but does not increment the tick count. It must be identical to the | |
| * tick context switch in how it stores the stack of a task. | |
| */ | |
| void vPortYield( void ) | |
| { | |
| /* This can get called with interrupts either enabled or disabled. We | |
| will save the INTCON register with the interrupt enable bits unmodified. */ | |
| portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED ); | |
| /* Switch to the highest priority task that is ready to run. */ | |
| vTaskSwitchContext(); | |
| /* Start executing the task we have just switched to. */ | |
| portRESTORE_CONTEXT(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Vector for ISR. Nothing here must alter any registers! | |
| */ | |
| #pragma code high_vector=0x08 | |
| static void prvLowInterrupt( void ) | |
| { | |
| /* Was the interrupt the tick? */ | |
| if( PIR1bits.CCP1IF ) | |
| { | |
| _asm | |
| goto prvTickISR | |
| _endasm | |
| } | |
| /* Was the interrupt a byte being received? */ | |
| if( PIR1bits.RCIF ) | |
| { | |
| _asm | |
| goto vSerialRxISR | |
| _endasm | |
| } | |
| /* Was the interrupt the Tx register becoming empty? */ | |
| if( PIR1bits.TXIF ) | |
| { | |
| if( PIE1bits.TXIE ) | |
| { | |
| _asm | |
| goto vSerialTxISR | |
| _endasm | |
| } | |
| } | |
| } | |
| #pragma code | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * ISR for the tick. | |
| * This increments the tick count and, if using the preemptive scheduler, | |
| * performs a context switch. This must be identical to the manual | |
| * context switch in how it stores the context of a task. | |
| */ | |
| static void prvTickISR( void ) | |
| { | |
| /* Interrupts must have been enabled for the ISR to fire, so we have to | |
| save the context with interrupts enabled. */ | |
| portSAVE_CONTEXT( portGLOBAL_INTERRUPT_FLAG ); | |
| PIR1bits.CCP1IF = 0; | |
| /* Maintain the tick count. */ | |
| vTaskIncrementTick(); | |
| #if configUSE_PREEMPTION == 1 | |
| { | |
| /* Switch to the highest priority task that is ready to run. */ | |
| vTaskSwitchContext(); | |
| } | |
| #endif | |
| portRESTORE_CONTEXT(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Setup a timer for a regular tick. | |
| */ | |
| static void prvSetupTimerInterrupt( void ) | |
| { | |
| const unsigned portLONG ulConstCompareValue = ( ( configCPU_CLOCK_HZ / portTIMER_FOSC_SCALE ) / configTICK_RATE_HZ ); | |
| unsigned portLONG ulCompareValue; | |
| unsigned portCHAR ucByte; | |
| /* Interrupts are disabled when this function is called. | |
| Setup CCP1 to provide the tick interrupt using a compare match on timer | |
| 1. | |
| Clear the time count then setup timer. */ | |
| TMR1H = ( unsigned portCHAR ) 0x00; | |
| TMR1L = ( unsigned portCHAR ) 0x00; | |
| /* Set the compare match value. */ | |
| ulCompareValue = ulConstCompareValue; | |
| CCPR1L = ( unsigned portCHAR ) ( ulCompareValue & ( unsigned portLONG ) 0xff ); | |
| ulCompareValue >>= ( unsigned portLONG ) 8; | |
| CCPR1H = ( unsigned portCHAR ) ( ulCompareValue & ( unsigned portLONG ) 0xff ); | |
| CCP1CONbits.CCP1M0 = portBIT_SET; /*< Compare match mode. */ | |
| CCP1CONbits.CCP1M1 = portBIT_SET; /*< Compare match mode. */ | |
| CCP1CONbits.CCP1M2 = portBIT_CLEAR; /*< Compare match mode. */ | |
| CCP1CONbits.CCP1M3 = portBIT_SET; /*< Compare match mode. */ | |
| PIE1bits.CCP1IE = portBIT_SET; /*< Interrupt enable. */ | |
| /* We are only going to use the global interrupt bit, so set the peripheral | |
| bit to true. */ | |
| INTCONbits.GIEL = portBIT_SET; | |
| /* Provided library function for setting up the timer that will produce the | |
| tick. */ | |
| OpenTimer1( T1_16BIT_RW & T1_SOURCE_INT & T1_PS_1_1 & T1_CCP1_T3_CCP2 ); | |
| } | |