/* FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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. Full license text is available on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. 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. 1 tab == 4 spaces! */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the RX600 port. *----------------------------------------------------------*/ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /* Library includes. */ #include "string.h" /* Hardware specifics. */ #include "iodefine.h" /*-----------------------------------------------------------*/ /* Tasks should start with interrupts enabled and in Supervisor mode, therefore PSW is set with U and I set, and PM and IPL clear. */ #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 ) #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 ) /*-----------------------------------------------------------*/ /* The following lines are to ensure vSoftwareInterruptEntry can be referenced, and therefore installed in the vector table, when the FreeRTOS code is built as a library. */ extern BaseType_t vSoftwareInterruptEntry; const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry; /*-----------------------------------------------------------*/ /* * Function to start the first task executing - written in asm code as direct * access to registers is required. */ static void prvStartFirstTask( void ); /* * Software interrupt handler. Performs the actual context switch (saving and * restoring of registers). Written in asm code as direct register access is * required. */ static void prvYieldHandler( void ); /* * The entry point for the software interrupt handler. This is the function * that calls the inline asm function prvYieldHandler(). It is installed in * the vector table, but the code that installs it is in prvYieldHandler rather * than using a #pragma. */ void vSoftwareInterruptISR( void ); /*-----------------------------------------------------------*/ /* This is accessed by the inline assembler functions so is file scope for convenience. */ extern void *pxCurrentTCB; extern void vTaskSwitchContext( void ); /*-----------------------------------------------------------*/ /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { /* R0 is not included as it is the stack pointer. */ *pxTopOfStack = 0x00; pxTopOfStack--; *pxTopOfStack = portINITIAL_PSW; pxTopOfStack--; *pxTopOfStack = ( StackType_t ) pxCode; /* When debugging it can be useful if every register is set to a known value. Otherwise code space can be saved by just setting the registers that need to be set. */ #ifdef USE_FULL_REGISTER_INITIALISATION { pxTopOfStack--; *pxTopOfStack = 0xffffffff; /* r15. */ pxTopOfStack--; *pxTopOfStack = 0xeeeeeeee; pxTopOfStack--; *pxTopOfStack = 0xdddddddd; pxTopOfStack--; *pxTopOfStack = 0xcccccccc; pxTopOfStack--; *pxTopOfStack = 0xbbbbbbbb; pxTopOfStack--; *pxTopOfStack = 0xaaaaaaaa; pxTopOfStack--; *pxTopOfStack = 0x99999999; pxTopOfStack--; *pxTopOfStack = 0x88888888; pxTopOfStack--; *pxTopOfStack = 0x77777777; pxTopOfStack--; *pxTopOfStack = 0x66666666; pxTopOfStack--; *pxTopOfStack = 0x55555555; pxTopOfStack--; *pxTopOfStack = 0x44444444; pxTopOfStack--; *pxTopOfStack = 0x33333333; pxTopOfStack--; *pxTopOfStack = 0x22222222; pxTopOfStack--; } #else { pxTopOfStack -= 15; } #endif *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */ pxTopOfStack--; *pxTopOfStack = portINITIAL_FPSW; pxTopOfStack--; *pxTopOfStack = 0x12345678; /* Accumulator. */ pxTopOfStack--; *pxTopOfStack = 0x87654321; /* Accumulator. */ return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void vApplicationSetupTimerInterrupt( void ); /* Use pxCurrentTCB just so it does not get optimised away. */ if( pxCurrentTCB != NULL ) { /* Call an application function to set up the timer that will generate the tick interrupt. This way the application can decide which peripheral to use. A demo application is provided to show a suitable example. */ vApplicationSetupTimerInterrupt(); /* Enable the software interrupt. */ _IEN( _ICU_SWINT ) = 1; /* Ensure the software interrupt is clear. */ _IR( _ICU_SWINT ) = 0; /* Ensure the software interrupt is set to the kernel priority. */ _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; /* Start the first task. */ prvStartFirstTask(); } /* Just to make sure the function is not optimised away. */ ( void ) vSoftwareInterruptISR(); /* Should not get here. */ return pdFAIL; } /*-----------------------------------------------------------*/ #pragma inline_asm prvStartFirstTask static void prvStartFirstTask( void ) { /* When starting the scheduler there is nothing that needs moving to the interrupt stack because the function is not called from an interrupt. Just ensure the current stack is the user stack. */ SETPSW U /* Obtain the location of the stack associated with which ever task pxCurrentTCB is currently pointing to. */ MOV.L #_pxCurrentTCB, R15 MOV.L [R15], R15 MOV.L [R15], R0 /* Restore the registers from the stack of the task pointed to by pxCurrentTCB. */ POP R15 MVTACLO R15 /* Accumulator low 32 bits. */ POP R15 MVTACHI R15 /* Accumulator high 32 bits. */ POP R15 MVTC R15,FPSW /* Floating point status word. */ POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */ RTE /* This pops the remaining registers. */ NOP NOP } /*-----------------------------------------------------------*/ #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) ) void vTickISR( void ) { /* Increment the tick, and perform any processing the new tick value necessitates. */ set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY ); { if( xTaskIncrementTick() != pdFALSE ) { taskYIELD(); } } set_ipl( configKERNEL_INTERRUPT_PRIORITY ); } /*-----------------------------------------------------------*/ void vSoftwareInterruptISR( void ) { prvYieldHandler(); } /*-----------------------------------------------------------*/ #pragma inline_asm prvYieldHandler static void prvYieldHandler( void ) { /* Re-enable interrupts. */ SETPSW I /* Move the data that was automatically pushed onto the interrupt stack when the interrupt occurred from the interrupt stack to the user stack. R15 is saved before it is clobbered. */ PUSH.L R15 /* Read the user stack pointer. */ MVFC USP, R15 /* Move the address down to the data being moved. */ SUB #12, R15 MVTC R15, USP /* Copy the data across. */ MOV.L [ R0 ], [ R15 ] ; R15 MOV.L 4[ R0 ], 4[ R15 ] ; PC MOV.L 8[ R0 ], 8[ R15 ] ; PSW /* Move the interrupt stack pointer to its new correct position. */ ADD #12, R0 /* All the rest of the registers are saved directly to the user stack. */ SETPSW U /* Save the rest of the general registers (R15 has been saved already). */ PUSHM R1-R14 /* Save the FPSW and accumulator. */ MVFC FPSW, R15 PUSH.L R15 MVFACHI R15 PUSH.L R15 MVFACMI R15 ; Middle order word. SHLL #16, R15 ; Shifted left as it is restored to the low order word. PUSH.L R15 /* Save the stack pointer to the TCB. */ MOV.L #_pxCurrentTCB, R15 MOV.L [ R15 ], R15 MOV.L R0, [ R15 ] /* Ensure the interrupt mask is set to the syscall priority while the kernel structures are being accessed. */ MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY /* Select the next task to run. */ BSR.A _vTaskSwitchContext /* Reset the interrupt mask as no more data structure access is required. */ MVTIPL #configKERNEL_INTERRUPT_PRIORITY /* Load the stack pointer of the task that is now selected as the Running state task from its TCB. */ MOV.L #_pxCurrentTCB,R15 MOV.L [ R15 ], R15 MOV.L [ R15 ], R0 /* Restore the context of the new task. The PSW (Program Status Word) and PC will be popped by the RTE instruction. */ POP R15 MVTACLO R15 POP R15 MVTACHI R15 POP R15 MVTC R15,FPSW POPM R1-R15 RTE NOP NOP } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* Not implemented in ports where there is nothing to return to. Artificially force an assert. */ configASSERT( pxCurrentTCB == NULL ); /* The following line is just to prevent the symbol getting optimised away. */ ( void ) vTaskSwitchContext(); } /*-----------------------------------------------------------*/