| /* | |
| * FreeRTOS Kernel V10.3.1 | |
| * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
| * | |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of | |
| * this software and associated documentation files (the "Software"), to deal in | |
| * the Software without restriction, including without limitation the rights to | |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
| * the Software, and to permit persons to whom the Software is furnished to do so, | |
| * subject to the following conditions: | |
| * | |
| * The above copyright notice and this permission notice shall be included in all | |
| * copies or substantial portions of the Software. | |
| * | |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
| * | |
| * http://www.FreeRTOS.org | |
| * http://aws.amazon.com/freertos | |
| * | |
| * 1 tab == 4 spaces! | |
| */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /*----------------------------------------------------------- | |
| * Implementation of functions defined in portable.h for the 16FX port. | |
| *----------------------------------------------------------*/ | |
| /* | |
| * Get current value of DPR and ADB registers | |
| */ | |
| StackType_t xGet_DPR_ADB_bank( void ); | |
| /* | |
| * Get current value of DTB and PCB registers | |
| */ | |
| StackType_t xGet_DTB_PCB_bank( void ); | |
| /* | |
| * Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but | |
| * can be done using any given RLT. | |
| */ | |
| static void prvSetupRLT0Interrupt( void ); | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * We require the address of the pxCurrentTCB variable, but don't want to know | |
| * any details of its type. | |
| */ | |
| typedef void TCB_t; | |
| extern volatile TCB_t * volatile pxCurrentTCB; | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Macro to save a task context to the task stack. This macro copies the | |
| * saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system | |
| * stack to task stack pointed by user stack pointer ( USP for SMALL and | |
| * MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ), | |
| * then it pushes the general purpose registers RW0-RW7 on to the task | |
| * stack. Finally the resultant stack pointer value is saved into the | |
| * task control block so it can be retrieved the next time the task | |
| * executes. | |
| */ | |
| #if( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) ) | |
| #define portSAVE_CONTEXT() \ | |
| { __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ | |
| __asm(" MOVW A, _pxCurrentTCB "); \ | |
| __asm(" MOVW A, SP "); \ | |
| __asm(" SWAPW "); \ | |
| __asm(" MOVW @AL, AH "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| } | |
| /* | |
| * Macro to restore a task context from the task stack. This is effecti- | |
| * vely the reverse of SAVE_CONTEXT(). First the stack pointer value | |
| * (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and | |
| * LARGE memory model ) is loaded from the task control block. Next the | |
| * value of all the general purpose registers RW0-RW7 is retrieved. Fina- | |
| * lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of | |
| * the task to be executed upon RETI from user stack to system stack. | |
| */ | |
| #define portRESTORE_CONTEXT() \ | |
| { __asm(" MOVW A, _pxCurrentTCB "); \ | |
| __asm(" MOVW A, @A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" MOVW SP, A "); \ | |
| __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| } | |
| #elif( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) ) | |
| #define portSAVE_CONTEXT() \ | |
| { __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ | |
| __asm(" MOVL A, _pxCurrentTCB "); \ | |
| __asm(" MOVL RL2, A "); \ | |
| __asm(" MOVW A, SP "); \ | |
| __asm(" MOVW @RL2+0, A "); \ | |
| __asm(" MOV A, USB "); \ | |
| __asm(" MOV @RL2+2, A "); \ | |
| } | |
| #define portRESTORE_CONTEXT() \ | |
| { __asm(" MOVL A, _pxCurrentTCB "); \ | |
| __asm(" MOVL RL2, A "); \ | |
| __asm(" MOVW A, @RL2+0 "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" MOVW SP, A "); \ | |
| __asm(" MOV A, @RL2+2 "); \ | |
| __asm(" MOV USB, A "); \ | |
| __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| __asm(" AND CCR,#H'DF "); \ | |
| __asm(" POPW A "); \ | |
| __asm(" OR CCR,#H'20 "); \ | |
| __asm(" PUSHW A "); \ | |
| } | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Functions for obtaining the current value of DPR:ADB, DTB:PCB bank registers | |
| */ | |
| #pragma asm | |
| .GLOBAL _xGet_DPR_ADB_bank | |
| .GLOBAL _xGet_DTB_PCB_bank | |
| .SECTION CODE, CODE, ALIGN=1 | |
| _xGet_DPR_ADB_bank: | |
| MOV A, DPR | |
| SWAP | |
| MOV A, ADB | |
| ORW A | |
| #if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE | |
| RETP | |
| #elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT | |
| RET | |
| #endif | |
| _xGet_DTB_PCB_bank: | |
| MOV A, DTB | |
| SWAP | |
| MOV A, PCB | |
| ORW A | |
| #if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE | |
| RETP | |
| #elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT | |
| RET | |
| #endif | |
| #pragma endasm | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * 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. | |
| */ | |
| StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
| { | |
| /* Place a few bytes of known values on the bottom of the stack. | |
| This is just useful for debugging. */ | |
| *pxTopOfStack = 0x1111; | |
| pxTopOfStack--; | |
| *pxTopOfStack = 0x2222; | |
| pxTopOfStack--; | |
| *pxTopOfStack = 0x3333; | |
| pxTopOfStack--; | |
| /* Once the task is called the task would push the pointer to the | |
| parameter onto the stack. Hence here the pointer would be copied to the stack | |
| first. When using the COMPACT or LARGE memory model the pointer would be 24 | |
| bits, and when using the SMALL or MEDIUM memory model the pointer would be 16 | |
| bits. */ | |
| #if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) ) | |
| { | |
| *pxTopOfStack = ( StackType_t ) ( ( uint32_t ) ( pvParameters ) >> 16 ); | |
| pxTopOfStack--; | |
| } | |
| #endif | |
| *pxTopOfStack = ( StackType_t ) ( pvParameters ); | |
| pxTopOfStack--; | |
| /* This is redundant push to the stack. This is required in order to introduce | |
| an offset so that the task accesses a parameter correctly that is passed on to | |
| the task stack. */ | |
| #if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) ) | |
| { | |
| *pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff ); | |
| pxTopOfStack--; | |
| } | |
| #endif | |
| /* This is redundant push to the stack. This is required in order to introduce | |
| an offset so the task correctly accesses the parameter passed on the task stack. */ | |
| *pxTopOfStack = ( StackType_t ) ( pxCode ); | |
| pxTopOfStack--; | |
| /* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */ | |
| *pxTopOfStack = 0xE0C0; | |
| pxTopOfStack--; | |
| /* PC */ | |
| *pxTopOfStack = ( StackType_t ) ( pxCode ); | |
| pxTopOfStack--; | |
| /* DTB | PCB */ | |
| #if configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT | |
| { | |
| *pxTopOfStack = xGet_DTB_PCB_bank(); | |
| pxTopOfStack--; | |
| } | |
| #endif | |
| /* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used | |
| along with PC to indicate the start address of the function. */ | |
| #if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) ) | |
| { | |
| *pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff ); | |
| pxTopOfStack--; | |
| } | |
| #endif | |
| /* DPR | ADB */ | |
| *pxTopOfStack = xGet_DPR_ADB_bank(); | |
| pxTopOfStack--; | |
| /* AL */ | |
| *pxTopOfStack = ( StackType_t ) 0x9999; | |
| pxTopOfStack--; | |
| /* AH */ | |
| *pxTopOfStack = ( StackType_t ) 0xAAAA; | |
| pxTopOfStack--; | |
| /* Next the general purpose registers. */ | |
| *pxTopOfStack = ( StackType_t ) 0x7777; /* RW7 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x6666; /* RW6 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x5555; /* RW5 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x4444; /* RW4 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x3333; /* RW3 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x2222; /* RW2 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x1111; /* RW1 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x8888; /* RW0 */ | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| static void prvSetupRLT0Interrupt( void ) | |
| { | |
| /* The peripheral clock divided by 16 is used by the timer. */ | |
| const uint16_t usReloadValue = ( uint16_t ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL ); | |
| /* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */ | |
| TMRLR0 = usReloadValue; | |
| /* prescaler 1:16, reload, interrupt enable, count enable, trigger */ | |
| TMCSR0 = 0x041B; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| BaseType_t xPortStartScheduler( void ) | |
| { | |
| /* Setup the hardware to generate the tick. */ | |
| prvSetupRLT0Interrupt(); | |
| /* Restore the context of the first task that is going to run. */ | |
| portRESTORE_CONTEXT(); | |
| /* 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 pdTRUE; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) | |
| { | |
| /* Not implemented - unlikely to ever be required as there is nothing to | |
| return to. */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * The interrupt service routine used depends on whether the pre-emptive | |
| * scheduler is being used or not. | |
| */ | |
| #if configUSE_PREEMPTION == 1 | |
| /* | |
| * Tick ISR for preemptive scheduler. We can use a __nosavereg attribute | |
| * as the context is to be saved by the portSAVE_CONTEXT() macro, not the | |
| * compiler generated code. The tick count is incremented after the context | |
| * is saved. | |
| */ | |
| __nosavereg __interrupt void prvRLT0_TICKISR( void ) | |
| { | |
| /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ | |
| __DI(); | |
| /* Save the context of the interrupted task. */ | |
| portSAVE_CONTEXT(); | |
| /* Enable interrupts */ | |
| __EI(); | |
| /* Clear RLT0 interrupt flag */ | |
| TMCSR0_UF = 0; | |
| /* Increment the tick count then switch to the highest priority task | |
| that is ready to run. */ | |
| if( xTaskIncrementTick() != pdFALSE ) | |
| { | |
| vTaskSwitchContext(); | |
| } | |
| /* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */ | |
| __DI(); | |
| /* Restore the context of the new task. */ | |
| portRESTORE_CONTEXT(); | |
| /* Enable interrupts */ | |
| __EI(); | |
| } | |
| #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 prvRLT0_TICKISR( void ) | |
| { | |
| /* Clear RLT0 interrupt flag */ | |
| TMCSR0_UF = 0; | |
| xTaskIncrementTick(); | |
| } | |
| #endif | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Manual context switch. We can use a __nosavereg attribute as the context | |
| * is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated | |
| * code. | |
| */ | |
| __nosavereg __interrupt void vPortYield( void ) | |
| { | |
| /* Save the context of the interrupted task. */ | |
| portSAVE_CONTEXT(); | |
| /* Switch to the highest priority task that is ready to run. */ | |
| vTaskSwitchContext(); | |
| /* Restore the context of the new task. */ | |
| portRESTORE_CONTEXT(); | |
| } | |
| /*-----------------------------------------------------------*/ | |
| __nosavereg __interrupt void vPortYieldDelayed( void ) | |
| { | |
| /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ | |
| __DI(); | |
| /* Save the context of the interrupted task. */ | |
| portSAVE_CONTEXT(); | |
| /* Enable interrupts */ | |
| __EI(); | |
| /* Clear delayed interrupt flag */ | |
| __asm (" CLRB 03A4H:0 "); | |
| /* Switch to the highest priority task that is ready to run. */ | |
| vTaskSwitchContext(); | |
| /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ | |
| __DI(); | |
| /* Restore the context of the new task. */ | |
| portRESTORE_CONTEXT(); | |
| /* Enable interrupts */ | |
| __EI(); | |
| } | |
| /*-----------------------------------------------------------*/ | |