/* FreeRTOS V6.0.0 - Copyright (C) 2009 Real Time Engineers Ltd. *************************************************************************** * * * If you are: * * * * + New to FreeRTOS, * * + Wanting to learn FreeRTOS or multitasking in general quickly * * + Looking for basic training, * * + Wanting to improve your FreeRTOS skills and productivity * * * * then take a look at the FreeRTOS eBook * * * * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * * http://www.FreeRTOS.org/Documentation * * * * A pdf reference manual is also available. Both are usually delivered * * to your inbox within 20 minutes to two hours when purchased between 8am * * and 8pm GMT (although please allow up to 24 hours in case of * * exceptional circumstances). 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 exception 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 Richard Barry, contact details for whom are available on the FreeRTOS WEB site. 1 tab == 4 spaces! 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. */ #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 /*-----------------------------------------------------------*/