X-Git-Url: https://git.sur5r.net/?a=blobdiff_plain;f=FreeRTOS%2FSource%2Fportable%2FMPLAB%2FPIC32MZ%2Fport.c;h=3e1f6552ef5c74d1ee5422e2d4c48397316556a9;hb=bd94a7fd5cb8d9225bbd3568941b8e2da7cabd5e;hp=42d8807bb0af0626e608d8e366a830ef0a88283d;hpb=04f5830e5a04fd6d0d953fefe62e3c2ae922a5b1;p=freertos diff --git a/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c b/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c index 42d8807bb..3e1f6552e 100644 --- a/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c +++ b/FreeRTOS/Source/portable/MPLAB/PIC32MZ/port.c @@ -1,104 +1,40 @@ /* - FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 - - 1 tab == 4 spaces! - - *************************************************************************** - * * - * Having a problem? Start by reading the FAQ "My application does * - * not run, what could be wrong?". Have you defined configASSERT()? * - * * - * http://www.FreeRTOS.org/FAQHelp.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 * - * * - *************************************************************************** - - *************************************************************************** - * * - * Investing in training allows your team to be as productive as * - * possible as early as possible, lowering your overall development * - * cost, and enabling you to bring a more robust product to market * - * earlier than would otherwise be possible. Richard Barry is both * - * the architect and key author of FreeRTOS, and so also the world's * - * leading authority on what is the world's most popular real time * - * kernel for deeply embedded MCU designs. Obtaining your training * - * from Richard ensures your team will gain directly from his in-depth * - * product knowledge and years of usage experience. Contact Real Time * - * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * - * by Richard Barry: http://www.FreeRTOS.org/contact - * * - *************************************************************************** - - *************************************************************************** - * * - * You are receiving this top quality software for free. Please play * - * fair and reciprocate by reporting any suspected issues and * - * participating in the community forum: * - * http://www.FreeRTOS.org/support * - * * - * Thank you! * - * * - *************************************************************************** - - http://www.FreeRTOS.org - Documentation, books, training, latest versions, - license and Real Time Engineers Ltd. contact details. - - 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! -*/ + * FreeRTOS Kernel V10.2.1 + * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the PIC32MZ port. *----------------------------------------------------------*/ +/* Microchip specific headers. */ #include +/* Standard headers. */ +#include + /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" @@ -119,6 +55,8 @@ #define portIE_BIT ( 0x00000001 ) #define portEXL_BIT ( 0x00000002 ) #define portMX_BIT ( 0x01000000 ) /* Allow access to DSP instructions. */ +#define portCU1_BIT ( 0x20000000 ) /* enable CP1 for parts with hardware. */ +#define portFR_BIT ( 0x04000000 ) /* Enable 64 bit floating point registers. */ /* Bits within the CAUSE register. */ #define portCORE_SW_0 ( 0x00000100 ) @@ -126,7 +64,16 @@ /* The EXL bit is set to ensure interrupts do not occur while the context of the first task is being restored. */ -#define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT ) +#if ( __mips_hard_float == 1 ) + #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT | portFR_BIT | portCU1_BIT ) +#else + #define portINITIAL_SR ( portIE_BIT | portEXL_BIT | portMX_BIT ) +#endif + +/* The initial value to store into the FPU status and control register. This is + only used on parts that support a hardware FPU. */ +#define portINITIAL_FPSCR (0x1000000) /* High perf on denormal ops */ + /* By default port.c generates its tick interrupt from TIMER1. The user can @@ -155,7 +102,7 @@ override this behaviour by: #endif /* Let the user override the pre-loading of the initial RA with the address of -prvTaskExitError() in case is messes up unwinding of the stack in the +prvTaskExitError() in case it messes up unwinding of the stack in the debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */ #ifdef configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS @@ -204,11 +151,19 @@ volatile UBaseType_t uxInterruptNesting = 0x01; UBaseType_t uxSavedTaskStackPointer = 0; /* The stack used by interrupt service routines that cause a context switch. */ -StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; +__attribute__ ((aligned(8))) StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; /* The top of stack value ensures there is enough space to store 6 registers on -the callers stack, as some functions seem to want to do this. */ -const StackType_t * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] ); +the callers stack, as some functions seem to want to do this. 8 byte alignment +is required to allow double word floating point stack pushes generated by the +compiler. */ +const StackType_t * const xISRStackTop = &( xISRStack[ ( configISR_STACK_SIZE & ~portBYTE_ALIGNMENT_MASK ) - 8 ] ); + +/* Saved as part of the task context. Set to pdFALSE if the task does not + require an FPU context. */ +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + uint32_t ulTaskHasFPUContext = 0; +#endif /*-----------------------------------------------------------*/ @@ -217,7 +172,8 @@ const StackType_t * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { - /* Ensure byte alignment is maintained when leaving this function. */ + /* Ensure 8 byte alignment is maintained when leaving this function. */ + pxTopOfStack--; pxTopOfStack--; *pxTopOfStack = (StackType_t) 0xDEADBEEF; @@ -233,10 +189,10 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px pxTopOfStack--; *pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */ - pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */ + pxTopOfStack--; *pxTopOfStack = (StackType_t) 0x00000000; /* DSPControl */ - pxTopOfStack--; + pxTopOfStack -= 7; /* Includes space for AC1 - AC3. */ *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */ pxTopOfStack -= 15; @@ -244,6 +200,8 @@ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t px *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */ pxTopOfStack -= 15; + *pxTopOfStack = (StackType_t) pdFALSE; /*by default disable FPU context save on parts with FPU */ + return pxTopOfStack; } /*-----------------------------------------------------------*/ @@ -273,7 +231,7 @@ static void prvTaskExitError( void ) */ __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) { -const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1; +const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1UL; T1CON = 0x0000; T1CONbits.TCKPS = portPRESCALE_BITS; @@ -387,6 +345,27 @@ void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister ) } /*-----------------------------------------------------------*/ +#if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) + + void vPortTaskUsesFPU(void) + { + extern void vPortInitialiseFPSCR( uint32_t uxFPSCRInit ); + + portENTER_CRITICAL(); + + /* Initialise the floating point status register. */ + vPortInitialiseFPSCR(portINITIAL_FPSCR); + + /* A task is registering the fact that it needs a FPU context. Set the + FPU flag (saved as part of the task context). */ + ulTaskHasFPUContext = pdTRUE; + + portEXIT_CRITICAL(); + } + +#endif /* __mips_hard_float == 1 */ + +/*-----------------------------------------------------------*/