/* FreeRTOS V9.0.1 - Copyright (C) 2017 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! */ /* Changes from V4.2.1 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the PIC24 port. *----------------------------------------------------------*/ /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" /* Hardware specifics. */ #define portBIT_SET 1 #define portTIMER_PRESCALE 8 #define portINITIAL_SR 0 /* Defined for backward compatability with project created prior to FreeRTOS.org V4.3.0. */ #ifndef configKERNEL_INTERRUPT_PRIORITY #define configKERNEL_INTERRUPT_PRIORITY 1 #endif /* Use _T1Interrupt as the interrupt handler name if the application writer has not provided their own. */ #ifndef configTICK_INTERRUPT_HANDLER #define configTICK_INTERRUPT_HANDLER _T1Interrupt #endif /* configTICK_INTERRUPT_HANDLER */ /* The program counter is only 23 bits. */ #define portUNUSED_PR_BITS 0x7f /* Records the nesting depth of calls to portENTER_CRITICAL(). */ UBaseType_t uxCriticalNesting = 0xef; #if configKERNEL_INTERRUPT_PRIORITY != 1 #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) #endif #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) #ifdef __HAS_EDS__ #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP DSWPAG \n" \ "POP DSRPAG \n" \ "POP CORCON \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #else /* __HAS_EDS__ */ #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP PSVPAG \n" \ "POP CORCON \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #endif /* __HAS_EDS__ */ #endif /* MPLAB_PIC24_PORT */ #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP PSVPAG \n" \ "POP CORCON \n" \ "POP DOENDH \n" \ "POP DOENDL \n" \ "POP DOSTARTH \n" \ "POP DOSTARTL \n" \ "POP DCOUNT \n" \ "POP ACCBU \n" \ "POP ACCBH \n" \ "POP ACCBL \n" \ "POP ACCAU \n" \ "POP ACCAH \n" \ "POP ACCAL \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #endif /* MPLAB_DSPIC_PORT */ #ifndef portRESTORE_CONTEXT #error Unrecognised device selected /* Note: dsPIC parts with EDS are not supported as there is no easy way to recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */ #endif /* * Setup the timer used to generate the tick interrupt. */ void vApplicationSetupTickTimerInterrupt( void ); /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { uint16_t usCode; UBaseType_t i; const StackType_t xInitialStack[] = { 0x1111, /* W1 */ 0x2222, /* W2 */ 0x3333, /* W3 */ 0x4444, /* W4 */ 0x5555, /* W5 */ 0x6666, /* W6 */ 0x7777, /* W7 */ 0x8888, /* W8 */ 0x9999, /* W9 */ 0xaaaa, /* W10 */ 0xbbbb, /* W11 */ 0xcccc, /* W12 */ 0xdddd, /* W13 */ 0xeeee, /* W14 */ 0xcdce, /* RCOUNT */ 0xabac, /* TBLPAG */ /* dsPIC specific registers. */ #ifdef MPLAB_DSPIC_PORT 0x0202, /* ACCAL */ 0x0303, /* ACCAH */ 0x0404, /* ACCAU */ 0x0505, /* ACCBL */ 0x0606, /* ACCBH */ 0x0707, /* ACCBU */ 0x0808, /* DCOUNT */ 0x090a, /* DOSTARTL */ 0x1010, /* DOSTARTH */ 0x1110, /* DOENDL */ 0x1212, /* DOENDH */ #endif }; /* Setup the stack as if a yield had occurred. Save the low bytes of the program counter. */ usCode = ( uint16_t ) pxCode; *pxTopOfStack = ( StackType_t ) usCode; pxTopOfStack++; /* Save the high byte of the program counter. This will always be zero here as it is passed in a 16bit pointer. If the address is greater than 16 bits then the pointer will point to a jump table. */ *pxTopOfStack = ( StackType_t ) 0; pxTopOfStack++; /* Status register with interrupts enabled. */ *pxTopOfStack = portINITIAL_SR; pxTopOfStack++; /* Parameters are passed in W0. */ *pxTopOfStack = ( StackType_t ) pvParameters; pxTopOfStack++; for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ ) { *pxTopOfStack = xInitialStack[ i ]; pxTopOfStack++; } *pxTopOfStack = CORCON; pxTopOfStack++; #if defined(__HAS_EDS__) *pxTopOfStack = DSRPAG; pxTopOfStack++; *pxTopOfStack = DSWPAG; pxTopOfStack++; #else /* __HAS_EDS__ */ *pxTopOfStack = PSVPAG; pxTopOfStack++; #endif /* __HAS_EDS__ */ /* Finally the critical nesting depth. */ *pxTopOfStack = 0x00; pxTopOfStack++; return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { /* Setup a timer for the tick ISR. */ vApplicationSetupTickTimerInterrupt(); /* Restore the context of the first task to run. */ portRESTORE_CONTEXT(); /* Simulate the end of the yield function. */ asm volatile ( "return" ); /* Should not reach here. */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* Not implemented in ports where there is nothing to return to. Artificially force an assert. */ configASSERT( uxCriticalNesting == 1000UL ); } /*-----------------------------------------------------------*/ /* * Setup a timer for a regular tick. */ __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) { const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1; /* Prescale of 8. */ T1CON = 0; TMR1 = 0; PR1 = ( uint16_t ) ulCompareMatch; /* Setup timer 1 interrupt priority. */ IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; /* Clear the interrupt as a starting condition. */ IFS0bits.T1IF = 0; /* Enable the interrupt. */ IEC0bits.T1IE = 1; /* Setup the prescale value. */ T1CONbits.TCKPS0 = 1; T1CONbits.TCKPS1 = 0; /* Start the timer. */ T1CONbits.TON = 1; } /*-----------------------------------------------------------*/ void vPortEnterCritical( void ) { portDISABLE_INTERRUPTS(); uxCriticalNesting++; } /*-----------------------------------------------------------*/ void vPortExitCritical( void ) { configASSERT( uxCriticalNesting ); uxCriticalNesting--; if( uxCriticalNesting == 0 ) { portENABLE_INTERRUPTS(); } } /*-----------------------------------------------------------*/ void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void ) { /* Clear the timer interrupt. */ IFS0bits.T1IF = 0; if( xTaskIncrementTick() != pdFALSE ) { portYIELD(); } }