2 FreeRTOS V8.1.0 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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69 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
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72 /*-----------------------------------------------------------
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73 * Implementation of functions defined in portable.h for the PIC24 port.
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74 *----------------------------------------------------------*/
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76 /* Scheduler include files. */
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77 #include "FreeRTOS.h"
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80 /* Hardware specifics. */
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81 #define portBIT_SET 1
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82 #define portTIMER_PRESCALE 8
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83 #define portINITIAL_SR 0
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85 /* Defined for backward compatability with project created prior to
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86 FreeRTOS.org V4.3.0. */
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87 #ifndef configKERNEL_INTERRUPT_PRIORITY
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88 #define configKERNEL_INTERRUPT_PRIORITY 1
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91 /* Use _T1Interrupt as the interrupt handler name if the application writer has
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92 not provided their own. */
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93 #ifndef configTICK_INTERRUPT_HANDLER
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94 #define configTICK_INTERRUPT_HANDLER _T1Interrupt
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95 #endif /* configTICK_INTERRUPT_HANDLER */
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97 /* The program counter is only 23 bits. */
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98 #define portUNUSED_PR_BITS 0x7f
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100 /* Records the nesting depth of calls to portENTER_CRITICAL(). */
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101 UBaseType_t uxCriticalNesting = 0xef;
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103 #if configKERNEL_INTERRUPT_PRIORITY != 1
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104 #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 )
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107 #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
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110 #define portRESTORE_CONTEXT() \
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111 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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112 "MOV [W0], W15 \n" \
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113 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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114 "MOV W0, _uxCriticalNesting \n" \
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119 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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129 #else /* __HAS_EDS__ */
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130 #define portRESTORE_CONTEXT() \
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131 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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132 "MOV [W0], W15 \n" \
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133 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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134 "MOV W0, _uxCriticalNesting \n" \
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138 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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148 #endif /* __HAS_EDS__ */
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149 #endif /* MPLAB_PIC24_PORT */
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151 #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )
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153 #define portRESTORE_CONTEXT() \
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154 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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155 "MOV [W0], W15 \n" \
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156 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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157 "MOV W0, _uxCriticalNesting \n" \
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162 "POP DOSTARTH \n" \
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163 "POP DOSTARTL \n" \
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172 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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183 #endif /* MPLAB_DSPIC_PORT */
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185 #ifndef portRESTORE_CONTEXT
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186 #error Unrecognised device selected
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188 /* Note: dsPIC parts with EDS are not supported as there is no easy way to
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189 recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
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193 * Setup the timer used to generate the tick interrupt.
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195 void vApplicationSetupTickTimerInterrupt( void );
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198 * See header file for description.
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200 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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205 const StackType_t xInitialStack[] =
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221 0xcdce, /* RCOUNT */
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222 0xabac, /* TBLPAG */
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224 /* dsPIC specific registers. */
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225 #ifdef MPLAB_DSPIC_PORT
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226 0x0202, /* ACCAL */
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227 0x0303, /* ACCAH */
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228 0x0404, /* ACCAU */
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229 0x0505, /* ACCBL */
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230 0x0606, /* ACCBH */
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231 0x0707, /* ACCBU */
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232 0x0808, /* DCOUNT */
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233 0x090a, /* DOSTARTL */
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234 0x1010, /* DOSTARTH */
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235 0x1110, /* DOENDL */
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236 0x1212, /* DOENDH */
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240 /* Setup the stack as if a yield had occurred.
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242 Save the low bytes of the program counter. */
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243 usCode = ( uint16_t ) pxCode;
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244 *pxTopOfStack = ( StackType_t ) usCode;
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247 /* Save the high byte of the program counter. This will always be zero
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248 here as it is passed in a 16bit pointer. If the address is greater than
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249 16 bits then the pointer will point to a jump table. */
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250 *pxTopOfStack = ( StackType_t ) 0;
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253 /* Status register with interrupts enabled. */
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254 *pxTopOfStack = portINITIAL_SR;
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257 /* Parameters are passed in W0. */
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258 *pxTopOfStack = ( StackType_t ) pvParameters;
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261 for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
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263 *pxTopOfStack = xInitialStack[ i ];
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267 *pxTopOfStack = CORCON;
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270 #if defined(__HAS_EDS__)
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271 *pxTopOfStack = DSRPAG;
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273 *pxTopOfStack = DSWPAG;
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275 #else /* __HAS_EDS__ */
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276 *pxTopOfStack = PSVPAG;
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278 #endif /* __HAS_EDS__ */
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280 /* Finally the critical nesting depth. */
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281 *pxTopOfStack = 0x00;
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284 return pxTopOfStack;
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286 /*-----------------------------------------------------------*/
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288 BaseType_t xPortStartScheduler( void )
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290 /* Setup a timer for the tick ISR. */
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291 vApplicationSetupTickTimerInterrupt();
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293 /* Restore the context of the first task to run. */
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294 portRESTORE_CONTEXT();
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296 /* Simulate the end of the yield function. */
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297 asm volatile ( "return" );
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299 /* Should not reach here. */
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302 /*-----------------------------------------------------------*/
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304 void vPortEndScheduler( void )
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306 /* Not implemented in ports where there is nothing to return to.
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307 Artificially force an assert. */
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308 configASSERT( uxCriticalNesting == 1000UL );
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310 /*-----------------------------------------------------------*/
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313 * Setup a timer for a regular tick.
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315 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
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317 const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
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319 /* Prescale of 8. */
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323 PR1 = ( uint16_t ) ulCompareMatch;
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325 /* Setup timer 1 interrupt priority. */
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326 IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
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328 /* Clear the interrupt as a starting condition. */
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331 /* Enable the interrupt. */
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334 /* Setup the prescale value. */
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335 T1CONbits.TCKPS0 = 1;
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336 T1CONbits.TCKPS1 = 0;
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338 /* Start the timer. */
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341 /*-----------------------------------------------------------*/
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343 void vPortEnterCritical( void )
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345 portDISABLE_INTERRUPTS();
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346 uxCriticalNesting++;
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348 /*-----------------------------------------------------------*/
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350 void vPortExitCritical( void )
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352 configASSERT( uxCriticalNesting );
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353 uxCriticalNesting--;
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354 if( uxCriticalNesting == 0 )
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356 portENABLE_INTERRUPTS();
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359 /*-----------------------------------------------------------*/
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361 void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
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363 /* Clear the timer interrupt. */
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366 if( xTaskIncrementTick() != pdFALSE )
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