+/*\r
+ FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.\r
+\r
+ This file is part of the FreeRTOS.org distribution.\r
+\r
+ FreeRTOS.org is free software; you can redistribute it and/or modify\r
+ it under the terms of the GNU General Public License as published by\r
+ the Free Software Foundation; either version 2 of the License, or\r
+ (at your option) any later version.\r
+\r
+ FreeRTOS.org is distributed in the hope that it will be useful,\r
+ but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
+ GNU General Public License for more details.\r
+\r
+ You should have received a copy of the GNU General Public License\r
+ along with FreeRTOS.org; if not, write to the Free Software\r
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
+\r
+ A special exception to the GPL can be applied should you wish to distribute\r
+ a combined work that includes FreeRTOS.org, without being obliged to provide\r
+ the source code for any proprietary components. See the licensing section\r
+ of http://www.FreeRTOS.org for full details of how and when the exception\r
+ can be applied.\r
+\r
+ ***************************************************************************\r
+\r
+ Please ensure to read the configuration and relevant port sections of the \r
+ online documentation.\r
+\r
+ +++ http://www.FreeRTOS.org +++\r
+ Documentation, latest information, license and contact details. \r
+\r
+ +++ http://www.SafeRTOS.com +++\r
+ A version that is certified for use in safety critical systems.\r
+\r
+ +++ http://www.OpenRTOS.com +++\r
+ Commercial support, development, porting, licensing and training services.\r
+\r
+ ***************************************************************************\r
+*/\r
+\r
+#include "FreeRTOS.h"\r
+#include "task.h"\r
+#include "mb96348hs.h"\r
+\r
+/*-----------------------------------------------------------\r
+ * Implementation of functions defined in portable.h for the 16FX port.\r
+ *----------------------------------------------------------*/\r
+\r
+/* ------- Memory models --------- default address size */\r
+ /* data code */\r
+#define SMALL 0 /* 16 Bit 16 Bit */\r
+#define MEDIUM 1 /* 16 Bit 24 Bit */\r
+#define COMPACT 2 /* 24 Bit 16 Bit */\r
+#define LARGE 3 /* 24 Bit 24 Bit */\r
+\r
+/* \r
+ * The below define should be same as the option selected by the Memory \r
+ * Model (Project->Setup Project->C Compiler->Catagory->Target Depend ) \r
+ */\r
+#define MEMMODEL MEDIUM\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* \r
+ * We require the address of the pxCurrentTCB variable, but don't want to know\r
+ * any details of its type. \r
+ */\r
+typedef void tskTCB;\r
+extern volatile tskTCB * volatile pxCurrentTCB;\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* Get current value of DPR and ADB registers */\r
+portSTACK_TYPE Get_DPR_ADB_bank(void); \r
+\r
+/* Get current value of DTB and PCB registers */\r
+portSTACK_TYPE Get_DTB_PCB_bank(void);\r
+\r
+/* Get current register pointer */ \r
+portCHAR Get_RP(void); \r
+\r
+/*-----------------------------------------------------------*/ \r
+\r
+/* \r
+ * Macro to save a task context to the task stack. This macro copies the \r
+ * saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system \r
+ * stack to task stack pointed by user stack pointer ( USP for SMALL and \r
+ * MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ),\r
+ * then it pushes the general purpose registers RW0-RW7 on to the task \r
+ * stack. Finally the resultant stack pointer value is saved into the \r
+ * task control block so it can be retrieved the next time the task \r
+ * executes.\r
+ */\r
+ \r
+#if (MEMMODEL == SMALL || MEMMODEL == MEDIUM) \r
+#define portSAVE_CONTEXT() \\r
+ { __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \\r
+ __asm(" MOVW A, _pxCurrentTCB "); \\r
+ __asm(" MOVW A, SP "); \\r
+ __asm(" SWAPW "); \\r
+ __asm(" MOVW @AL, AH "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ }\r
+\r
+/* \r
+ * Macro to restore a task context from the task stack. This is effecti-\r
+ * vely the reverse of portSAVE_CONTEXT(). First the stack pointer value\r
+ * (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and \r
+ * LARGE memory model ) is loaded from the task control block. Next the \r
+ * value of all the general purpose registers RW0-RW7 is retrieved. Fina-\r
+ * lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of \r
+ * the task to be executed upon RETI from user stack to system stack. \r
+ */\r
+ \r
+#define portRESTORE_CONTEXT() \\r
+ { __asm(" MOVW A, _pxCurrentTCB "); \\r
+ __asm(" MOVW A, @A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" MOVW SP, A "); \\r
+ __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ }\r
+ \r
+#elif (MEMMODEL == COMPACT || MEMMODEL == LARGE) \r
+#define portSAVE_CONTEXT() \\r
+ { __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \\r
+ __asm(" MOVL A, _pxCurrentTCB "); \\r
+ __asm(" MOVL RL2, A "); \\r
+ __asm(" MOVW A, SP "); \\r
+ __asm(" MOVW @RL2+0, A "); \\r
+ __asm(" MOV A, USB "); \\r
+ __asm(" MOV @RL2+2, A "); \\r
+ } \r
+ \r
+#define portRESTORE_CONTEXT() \\r
+ { __asm(" MOVL A, _pxCurrentTCB "); \\r
+ __asm(" MOVL RL2, A "); \\r
+ __asm(" MOVW A, @RL2+0 "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" MOVW SP, A "); \\r
+ __asm(" MOV A, @RL2+2 "); \\r
+ __asm(" MOV USB, A "); \\r
+ __asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ __asm(" AND CCR,#H'DF "); \\r
+ __asm(" POPW A "); \\r
+ __asm(" OR CCR,#H'20 "); \\r
+ __asm(" PUSHW A "); \\r
+ }\r
+#endif\r
+\r
+/*-----------------------------------------------------------*/ \r
+\r
+/* \r
+ * The below are the functions for getting the current value of DPR:ADB, \r
+ * DTB:PCB bank registers\r
+ */\r
+ \r
+#pragma asm\r
+ .GLOBAL _Get_DPR_ADB_bank\r
+ .GLOBAL _Get_DTB_PCB_bank\r
+ .GLOBAL _Get_RP\r
+ .SECTION CODE, CODE, ALIGN=1\r
+_Get_DPR_ADB_bank:\r
+ MOV A, DPR\r
+ SWAP\r
+ MOV A, ADB\r
+ ORW A\r
+#if MEMMODEL == MEDIUM || MEMMODEL == LARGE\r
+ RETP\r
+#elif MEMMODEL == SMALL || MEMMODEL == COMPACT \r
+ RET\r
+#endif \r
+\r
+_Get_DTB_PCB_bank:\r
+ MOV A, DTB\r
+ SWAP\r
+ MOV A, PCB\r
+ ORW A\r
+#if MEMMODEL == MEDIUM || MEMMODEL == LARGE\r
+ RETP\r
+#elif MEMMODEL == SMALL || MEMMODEL == COMPACT \r
+ RET\r
+#endif \r
+\r
+_Get_RP:\r
+ PUSHW PS\r
+ POPW A\r
+ SWAP\r
+ ANDW A,#0x1f\r
+ #if MEMMODEL == MEDIUM || MEMMODEL == LARGE\r
+ RETP\r
+#elif MEMMODEL == SMALL || MEMMODEL == COMPACT \r
+ RET\r
+#endif \r
+#pragma endasm\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but\r
+ * can be done using any given RLT.\r
+ */\r
+static void prvSetupRLT0Interrupt( void );\r
+/*-----------------------------------------------------------*/\r
+\r
+/* \r
+ * Initialise the stack of a task to look exactly as if a call to \r
+ * portSAVE_CONTEXT had been called.\r
+ * \r
+ * See the header file portable.h.\r
+ */\r
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )\r
+{\r
+ /* Place a few bytes of known values on the bottom of the stack. \r
+ This is just useful for debugging. */\r
+\r
+ *pxTopOfStack = 0x1111;\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = 0x2222;\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = 0x3333;\r
+ pxTopOfStack--;\r
+\r
+ /* Once the task is called the called would push the pointer to the\r
+ parameter on to the stack. Hence here the pointer would be copied first\r
+ to the stack. In case of COMPACT or LARGE memory model such pointer \r
+ would be 24 bit and in case of SMALL or MEDIUM memory model such pointer \r
+ would be 16 bit */ \r
+#if MEMMODEL == COMPACT || MEMMODEL == LARGE\r
+ *pxTopOfStack = (portSTACK_TYPE)((portLONG)(pvParameters)>>16);\r
+ pxTopOfStack--; \r
+#endif\r
+\r
+ *pxTopOfStack = (portSTACK_TYPE)(pvParameters);\r
+ pxTopOfStack--; \r
+ \r
+ /* This is redundant push to the stack. This is required in order to introduce \r
+ an offset so that the task accesses a parameter correctly that is passed on to \r
+ the task stack. */\r
+#if MEMMODEL == MEDIUM || MEMMODEL == LARGE\r
+ *pxTopOfStack = (Get_DTB_PCB_bank() & 0xff00) |\r
+ (((portLONG)(pxCode) >>16) & 0xff); \r
+ pxTopOfStack--; \r
+#endif\r
+\r
+ /* This is redundant push to the stack. This is required in order to introduce \r
+ an offset so that the task accesses a parameter correctly that is passed on to \r
+ the task stack. */\r
+ *pxTopOfStack = ( portSTACK_TYPE )(pxCode);\r
+ pxTopOfStack--; \r
+\r
+ /* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */\r
+ *pxTopOfStack = 0xE0C0; \r
+ pxTopOfStack--; \r
+\r
+ /* PC */\r
+ *pxTopOfStack = ( portSTACK_TYPE )(pxCode); \r
+ pxTopOfStack--; \r
+ \r
+ /* DTB | PCB */\r
+#if MEMMODEL == SMALL || MEMMODEL == COMPACT\r
+ *pxTopOfStack = Get_DTB_PCB_bank(); \r
+ pxTopOfStack--;\r
+#endif\r
+\r
+ /* DTB | PCB, in case of MEDIUM or LARGE memory model PCB would be used\r
+ along with PC to indicate the start address of the functiom */\r
+#if MEMMODEL == MEDIUM || MEMMODEL == LARGE\r
+ *pxTopOfStack = (Get_DTB_PCB_bank() & 0xff00) |\r
+ (((portLONG)(pxCode) >>16) & 0xff); \r
+ pxTopOfStack--; \r
+#endif\r
+\r
+ /* DPR | ADB */\r
+ *pxTopOfStack = Get_DPR_ADB_bank(); \r
+ pxTopOfStack--;\r
+ \r
+ /* AL */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x9999; \r
+ pxTopOfStack--;\r
+\r
+ /* AH */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0xAAAA; \r
+ pxTopOfStack--;\r
+ \r
+ /* Next the general purpose registers. */\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x7777; /* RW7 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x6666; /* RW6 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x5555; /* RW5 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x4444; /* RW4 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x3333; /* RW3 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x2222; /* RW2 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x1111; /* RW1 */\r
+ pxTopOfStack--;\r
+ *pxTopOfStack = ( portSTACK_TYPE ) 0x8888; /* RW0 */\r
+ \r
+ return pxTopOfStack;\r
+}\r
+/*-----------------------------------------------------------*/\r
+/*\r
+ * Setup RLT0 to generate a tick interrupt.\r
+ */\r
+static void prvSetupRLT0Interrupt( void )\r
+{\r
+ /* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */\r
+ TMRLR0 = 0x88B7; \r
+ \r
+ /* prescaler 1:16, reload, interrupt enable, count enable, trigger */\r
+ TMCSR0 = 0x041B; \r
+}\r
+/*-----------------------------------------------------------*/\r
+/*\r
+ * Start the scheduler.\r
+ */\r
+portBASE_TYPE xPortStartScheduler( void )\r
+{\r
+ /* Setup the hardware to generate the tick. */\r
+ prvSetupRLT0Interrupt();\r
+ \r
+ /* Restore the context of the first task that is going to run. */\r
+ portRESTORE_CONTEXT();\r
+\r
+ /* Simulate a function call end as generated by the compiler. We will now\r
+ jump to the start of the task the context of which we have just restored. */\r
+ \r
+ __asm(" reti ");\r
+\r
+\r
+ /* Should not get here. */\r
+ return pdTRUE;\r
+}\r
+/*-----------------------------------------------------------*/\r
+\r
+void vPortEndScheduler( void )\r
+{\r
+ /* It is unlikely that the AVR port will get stopped. If required simply\r
+ disable the tick interrupt here. */\r
+}\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/* \r
+ * The interrupt service routine used depends on whether the pre-emptive\r
+ * scheduler is being used or not.\r
+ */\r
+\r
+#if configUSE_PREEMPTION == 1\r
+\r
+ /* \r
+ * Tick ISR for preemptive scheduler. We can use a __nosavereg attribute\r
+ * as the context would be saved by PortSAVE_CONTEXT(). The tick count \r
+ * is incremented after the context is saved. \r
+ */\r
+ __nosavereg __interrupt void prvRLT0_TICKISR( void )\r
+ {\r
+ /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */\r
+ __DI();\r
+ \r
+ /* Save the context of the interrupted task. */\r
+ portSAVE_CONTEXT();\r
+ \r
+ /* Enable interrupts */\r
+ __EI();\r
+ \r
+ /* Clear RLT0 interrupt flag */\r
+ TMCSR0_UF = 0; \r
+ \r
+ /* Increment the tick count then switch to the highest priority task\r
+ that is ready to run. */\r
+ vTaskIncrementTick();\r
+ vTaskSwitchContext();\r
+\r
+ /* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */\r
+ __DI();\r
+ \r
+ /* Restore the context of the new task. */\r
+ portRESTORE_CONTEXT();\r
+ \r
+ /* Enable interrupts */\r
+ __EI();\r
+ }\r
+\r
+#else\r
+\r
+ /*\r
+ * Tick ISR for the cooperative scheduler. All this does is increment the\r
+ * tick count. We don't need to switch context, this can only be done by\r
+ * manual calls to taskYIELD();\r
+ */\r
+ __interrupt void prvRLT0_TICKISR( void )\r
+ {\r
+ /* Clear RLT0 interrupt flag */\r
+ TMCSR0_UF = 0; \r
+ \r
+ vTaskIncrementTick();\r
+ }\r
+#endif\r
+\r
+/*-----------------------------------------------------------*/\r
+\r
+/*\r
+ * Manual context switch. We can use a __nosavereg attribute as the context \r
+ * would be saved by PortSAVE_CONTEXT(). The context is switched and then \r
+ * the context of the new task is restored saved. \r
+ */\r
+__nosavereg __interrupt void vPortYield( void )\r
+{\r
+ /* Save the context of the interrupted task. */\r
+ portSAVE_CONTEXT();\r
+ \r
+ /* Switch to the highest priority task that is ready to run. */\r
+ vTaskSwitchContext();\r
+ \r
+ /* Restore the context of the new task. */\r
+ portRESTORE_CONTEXT();\r
+}\r
+\r
+__nosavereg __interrupt void vPortYieldDelayed( void )\r
+{ \r
+ /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ \r
+ __DI();\r
+ \r
+ /* Save the context of the interrupted task. */\r
+ portSAVE_CONTEXT();\r
+ \r
+ /* Enable interrupts */\r
+ __EI();\r
+ \r
+ /* Clear delayed interrupt flag */\r
+ __asm (" CLRB 03A4H:0 ");\r
+ \r
+ /* Switch to the highest priority task that is ready to run. */\r
+ vTaskSwitchContext();\r
+ \r
+ /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */ \r
+ __DI();\r
+ \r
+ /* Restore the context of the new task. */\r
+ portRESTORE_CONTEXT();\r
+\r
+ /* Enable interrupts */\r
+ __EI();\r
+} \r
projects / freertos / commitdiff