2006-10-09 19:40:24 +08:00
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/*
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2007-04-02 04:47:49 +08:00
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FreeRTOS.org V4.2.1 - Copyright (C) 2003-2007 Richard Barry.
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2006-10-09 19:40:24 +08:00
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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See http://www.FreeRTOS.org for documentation, latest information, license
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and contact details. Please ensure to read the configuration and relevant
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port sections of the online documentation.
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2007-04-02 04:47:49 +08:00
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Also see http://www.SafeRTOS.com for an IEC 61508 compliant version along
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with commercial development and support options.
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2006-10-09 19:40:24 +08:00
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***************************************************************************
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*/
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the PIC24 port.
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*----------------------------------------------------------*/
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Hardware specifics. */
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#define portBIT_SET 1
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#define portTIMER_PRESCALE 8
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#define portINITIAL_SR 0
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/* The program counter is only 23 bits. */
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#define portUNUSED_PR_BITS 0x7f
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/* Records the nesting depth of calls to portENTER_CRITICAL(). */
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unsigned portBASE_TYPE uxCriticalNesting = 0xef;
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#ifdef MPLAB_PIC24_PORT
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#define portRESTORE_CONTEXT() \
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asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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"MOV [W0], W15 \n" \
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"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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"MOV W0, _uxCriticalNesting \n" \
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"POP PSVPAG \n" \
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"POP CORCON \n" \
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"POP TBLPAG \n" \
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"POP RCOUNT \n" /* Restore the registers from the stack. */ \
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"POP W14 \n" \
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"POP.D W12 \n" \
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"POP.D W10 \n" \
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"POP.D W8 \n" \
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"POP.D W6 \n" \
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"POP.D W4 \n" \
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"POP.D W2 \n" \
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"POP.D W0 \n" \
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"POP SR " );
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#define portSAVE_CONTEXT() \
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asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \
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"PUSH W0 \n" /* ....then disable interrupts. */ \
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"MOV #224, W0 \n" \
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"MOV W0, SR \n" \
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"PUSH W1 \n" /* Save registers to the stack. */ \
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"PUSH.D W2 \n" \
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"PUSH.D W4 \n" \
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"PUSH.D W6 \n" \
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"PUSH.D W8 \n" \
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"PUSH.D W10 \n" \
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"PUSH.D W12 \n" \
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"PUSH W14 \n" \
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"PUSH RCOUNT \n" \
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"PUSH TBLPAG \n" \
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"PUSH CORCON \n" \
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"PUSH PSVPAG \n" \
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"MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \
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"PUSH W0 \n" \
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"MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \
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"MOV W15, [W0] ");
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#endif /* MPLAB_PIC24_PORT */
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#ifdef MPLAB_DSPIC_PORT
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#define portRESTORE_CONTEXT() \
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asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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"MOV [W0], W15 \n" \
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"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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"MOV W0, _uxCriticalNesting \n" \
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"POP PSVPAG \n" \
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"POP CORCON \n" \
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"POP DOENDH \n" \
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"POP DOENDL \n" \
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"POP DOSTARTH \n" \
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"POP DOSTARTL \n" \
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"POP DCOUNT \n" \
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"POP ACCBU \n" \
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"POP ACCBH \n" \
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"POP ACCBL \n" \
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"POP ACCAU \n" \
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"POP ACCAH \n" \
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"POP ACCAL \n" \
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"POP TBLPAG \n" \
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"POP RCOUNT \n" /* Restore the registers from the stack. */ \
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"POP W14 \n" \
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"POP.D W12 \n" \
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"POP.D W10 \n" \
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"POP.D W8 \n" \
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"POP.D W6 \n" \
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"POP.D W4 \n" \
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"POP.D W2 \n" \
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"POP.D W0 \n" \
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"POP SR " );
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#define portSAVE_CONTEXT() \
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asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \
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"PUSH W0 \n" /* ....then disable interrupts. */ \
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"MOV #224, W0 \n" \
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"MOV W0, SR \n" \
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"PUSH W1 \n" /* Save registers to the stack. */ \
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"PUSH.D W2 \n" \
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"PUSH.D W4 \n" \
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"PUSH.D W6 \n" \
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"PUSH.D W8 \n" \
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"PUSH.D W10 \n" \
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"PUSH.D W12 \n" \
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"PUSH W14 \n" \
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"PUSH RCOUNT \n" \
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"PUSH TBLPAG \n" \
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"PUSH ACCAL \n" \
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"PUSH ACCAH \n" \
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"PUSH ACCAU \n" \
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"PUSH ACCBL \n" \
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"PUSH ACCBH \n" \
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"PUSH ACCBU \n" \
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"PUSH DCOUNT \n" \
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"PUSH DOSTARTL \n" \
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"PUSH DOSTARTH \n" \
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"PUSH DOENDL \n" \
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"PUSH DOENDH \n" \
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"PUSH CORCON \n" \
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"PUSH PSVPAG \n" \
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"MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \
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"PUSH W0 \n" \
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"MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \
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"MOV W15, [W0] " );
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#endif /* MPLAB_DSPIC_PORT */
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/*
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* Setup the timer used to generate the tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void );
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/*
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* See header file for description.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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unsigned portSHORT usCode;
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portBASE_TYPE i;
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const portSTACK_TYPE xInitialStack[] =
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{
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0x1111, /* W1 */
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0x2222, /* W2 */
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0x3333, /* W3 */
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0x4444, /* W4 */
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0x5555, /* W5 */
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0x6666, /* W6 */
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0x7777, /* W7 */
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0x8888, /* W8 */
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0x9999, /* W9 */
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0xaaaa, /* W10 */
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0xbbbb, /* W11 */
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0xcccc, /* W12 */
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0xdddd, /* W13 */
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0xeeee, /* W14 */
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0xcdce, /* RCOUNT */
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0xabac, /* TBLPAG */
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/* dsPIC specific registers. */
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#ifdef MPLAB_DSPIC_PORT
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0x0202, /* ACCAL */
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0x0303, /* ACCAH */
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0x0404, /* ACCAU */
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0x0505, /* ACCBL */
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0x0606, /* ACCBH */
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0x0707, /* ACCBU */
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0x0808, /* DCOUNT */
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0x090a, /* DOSTARTL */
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0x1010, /* DOSTARTH */
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0x1110, /* DOENDL */
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0x1212, /* DOENDH */
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#endif
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};
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/* Setup the stack as if a yield had occurred.
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Save the low bytes of the program counter. */
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usCode = ( unsigned portSHORT ) pxCode;
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*pxTopOfStack = ( portSTACK_TYPE ) usCode;
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pxTopOfStack++;
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/* Save the high byte of the program counter. This will always be zero
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here as it is passed in a 16bit pointer. If the address is greater than
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16 bits then the pointer will point to a jump table. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0;
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pxTopOfStack++;
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/* Status register with interrupts enabled. */
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*pxTopOfStack = portINITIAL_SR;
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pxTopOfStack++;
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/* Parameters are passed in W0. */
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*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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pxTopOfStack++;
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for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ )
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{
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*pxTopOfStack = xInitialStack[ i ];
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pxTopOfStack++;
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}
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*pxTopOfStack = CORCON;
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pxTopOfStack++;
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*pxTopOfStack = PSVPAG;
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pxTopOfStack++;
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/* Finally the critical nesting depth. */
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*pxTopOfStack = 0x00;
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pxTopOfStack++;
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Setup a timer for the tick ISR. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task to run. */
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portRESTORE_CONTEXT();
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/* Simulate the end of the yield function. */
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asm volatile ( "return" );
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/* Should not reach here. */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the scheduler for the PIC port will get stopped
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once running. If required disable the tick interrupt here, then return
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to xPortStartScheduler(). */
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}
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. This is similar to the tick context switch,
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* but does not increment the tick count. It must be identical to the
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* tick context switch in how it stores the stack of a task.
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*/
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void vPortYield( void )
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{
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portSAVE_CONTEXT();
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vTaskSwitchContext();
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portRESTORE_CONTEXT();
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup a timer for a regular tick.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ;
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/* Prescale of 8. */
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T1CON = 0;
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TMR1 = 0;
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PR1 = ( unsigned portSHORT ) ulCompareMatch;
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/* Setup timer 1 interrupt priority. */
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IPC0bits.T1IP = portKERNEL_INTERRUPT_PRIORITY;
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/* Clear the interrupt as a starting condition. */
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IFS0bits.T1IF = 0;
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/* Enable the interrupt. */
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IEC0bits.T1IE = 1;
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/* Setup the prescale value. */
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T1CONbits.TCKPS0 = 1;
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T1CONbits.TCKPS1 = 0;
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/* Start the timer. */
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T1CONbits.TON = 1;
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|
}
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
void vPortEnterCritical( void )
|
|
|
|
|
{
|
|
|
|
|
portDISABLE_INTERRUPTS();
|
|
|
|
|
uxCriticalNesting++;
|
|
|
|
|
}
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
void vPortExitCritical( void )
|
|
|
|
|
{
|
|
|
|
|
uxCriticalNesting--;
|
|
|
|
|
if( uxCriticalNesting == 0 )
|
|
|
|
|
{
|
|
|
|
|
portENABLE_INTERRUPTS();
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
|
|
|
|
|
|
void __attribute__((__interrupt__)) _T1Interrupt( void )
|
|
|
|
|
{
|
|
|
|
|
vTaskIncrementTick();
|
|
|
|
|
|
|
|
|
|
/* Clear the timer interrupt. */
|
|
|
|
|
IFS0bits.T1IF = 0;
|
|
|
|
|
|
|
|
|
|
#if configUSE_PREEMPTION == 1
|
|
|
|
|
portYIELD();
|
|
|
|
|
#endif
|
|
|
|
|
}
|
