From: rtel Date: Fri, 7 Mar 2014 17:12:06 +0000 (+0000) Subject: First pass at RXv2 port layer. X-Git-Tag: V8.0.1~17 X-Git-Url: https://git.sur5r.net/?a=commitdiff_plain;h=700c750067c7f3ba3d43b2d1d32d546a7fd08b3d;p=freertos First pass at RXv2 port layer. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@2223 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- diff --git a/FreeRTOS/Source/portable/Renesas/RX600v2/port.c b/FreeRTOS/Source/portable/Renesas/RX600v2/port.c new file mode 100644 index 000000000..41eeb1d05 --- /dev/null +++ b/FreeRTOS/Source/portable/Renesas/RX600v2/port.c @@ -0,0 +1,399 @@ +/* + FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from 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?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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 "r_cg_iodefine.h" + +/*-----------------------------------------------------------*/ +#define USE_FULL_REGISTER_INITIALISATION + +/* 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 = 0x11111111; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x22222222; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x33333333; /* Accumulator 0. */ + pxTopOfStack--; + *pxTopOfStack = 0x44444444; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x55555555; /* Accumulator 1. */ + pxTopOfStack--; + *pxTopOfStack = 0x66666666; /* Accumulator 1. */ + + 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, A0 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A0 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A0 /* Accumulator guard. */ + POP R15 + MVTACLO R15, A1 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A1 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A1 /* Accumulator guard. */ + 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 + MVFACGU #0, A1, R15 + PUSH.L R15 + MVFACHI #0, A1, R15 + PUSH.L R15 + MVFACLO #0, A1, R15 ; Low order word. + PUSH.L R15 + MVFACGU #0, A0, R15 + PUSH.L R15 + MVFACHI #0, A0, R15 + PUSH.L R15 + MVFACLO #0, A0, R15 ; 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, A0 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A0 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A0 /* Accumulator guard. */ + POP R15 + MVTACLO R15, A1 /* Accumulator low 32 bits. */ + POP R15 + MVTACHI R15, A1 /* Accumulator high 32 bits. */ + POP R15 + MVTACGU R15, A1 /* Accumulator guard. */ + 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(); +} +/*-----------------------------------------------------------*/ + + + diff --git a/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src b/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src new file mode 100644 index 000000000..0b17e5907 --- /dev/null +++ b/FreeRTOS/Source/portable/Renesas/RX600v2/port_asm.src @@ -0,0 +1,68 @@ +;/* +; FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. +; All rights reserved +; +; +; *************************************************************************** +; * * +; * FreeRTOS tutorial books are available in pdf and paperback. * +; * Complete, revised, and edited pdf reference manuals are also * +; * available. * +; * * +; * Purchasing FreeRTOS documentation will not only help you, by * +; * ensuring you get running as quickly as possible and with an * +; * in-depth knowledge of how to use FreeRTOS, it will also help * +; * the FreeRTOS project to continue with its mission of providing * +; * professional grade, cross platform, de facto standard solutions * +; * for microcontrollers - completely free of charge! * +; * * +; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * +; * * +; * Thank you for using FreeRTOS, and thank you for your support! * +; * * +; *************************************************************************** +; +; +; 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. See the GNU General Public License for +; more details. You should have received a copy of the GNU General Public +; License and the FreeRTOS license exception along with FreeRTOS; if not it +; can be viewed here: http://www.freertos.org/a00114.html and also obtained +; by writing to Richard Barry, contact details for whom are available on the +; FreeRTOS WEB site. +; +; 1 tab == 4 spaces! +; +; http://www.FreeRTOS.org - Documentation, latest information, license and +; contact details. +; +; http://www.SafeRTOS.com - A version that is certified for use in safety +; critical systems. +; +; http://www.OpenRTOS.com - Commercial support, development, porting, +; licensing and training services. +;*/ + .GLB _vSoftwareInterruptISR + .GLB _vSoftwareInterruptEntry + + .SECTION P,CODE + +_vSoftwareInterruptEntry: + + BRA _vSoftwareInterruptISR + + .RVECTOR 27, _vSoftwareInterruptEntry + + .END + + + diff --git a/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h b/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h new file mode 100644 index 000000000..c4d17a6ba --- /dev/null +++ b/FreeRTOS/Source/portable/Renesas/RX600v2/portmacro.h @@ -0,0 +1,176 @@ +/* + FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + + *************************************************************************** + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * + *************************************************************************** + + 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 from 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?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! +*/ + + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Hardware specifics. */ +#include "machine.h" + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions - these are a bit legacy and not really used now, other than +portSTACK_TYPE and portBASE_TYPE. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE uint32_t +#define portBASE_TYPE long + +typedef portSTACK_TYPE StackType_t; +typedef long BaseType_t; +typedef unsigned long UBaseType_t; + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef uint16_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffff +#else + typedef uint32_t TickType_t; + #define portMAX_DELAY ( TickType_t ) 0xffffffffUL +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 8 /* Could make four, according to manual. */ +#define portSTACK_GROWTH -1 +#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ ) +#define portNOP() nop() + + +#pragma inline_asm vPortYield +static void vPortYield( void ) +{ + /* Save clobbered register - may not actually be necessary if inline asm + functions are considered to use the same rules as function calls by the + compiler. */ + PUSH.L R5 + /* Set ITU SWINTR. */ + MOV.L #553696, R5 + MOV.B #1, [R5] + /* Read back to ensure the value is taken before proceeding. */ + MOV.L [R5], R5 + /* Restore clobbered register to its previous value. */ + POP R5 +} +#define portYIELD() vPortYield() +#define portYIELD_FROM_ISR( x ) if( x != pdFALSE ) portYIELD() + +/* These macros should not be called directly, but through the +taskENTER_CRITICAL() and taskEXIT_CRITICAL() macros. An extra check is +performed if configASSERT() is defined to ensure an assertion handler does not +inadvertently attempt to lower the IPL when the call to assert was triggered +because the IPL value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY +when an ISR safe FreeRTOS API function was executed. ISR safe FreeRTOS API +functions are those that end in FromISR. FreeRTOS maintains a separate +interrupt API to ensure API function and interrupt entry is as fast and as +simple as possible. */ +#define portENABLE_INTERRUPTS() set_ipl( ( long ) 0 ) +#ifdef configASSERT + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( ( get_ipl() <= configMAX_SYSCALL_INTERRUPT_PRIORITY ) ) + #define portDISABLE_INTERRUPTS() if( get_ipl() < configMAX_SYSCALL_INTERRUPT_PRIORITY ) set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#else + #define portDISABLE_INTERRUPTS() set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#endif + +/* Critical nesting counts are stored in the TCB. */ +#define portCRITICAL_NESTING_IN_TCB ( 1 ) + +/* The critical nesting functions defined within tasks.c. */ +extern void vTaskEnterCritical( void ); +extern void vTaskExitCritical( void ); +#define portENTER_CRITICAL() vTaskEnterCritical() +#define portEXIT_CRITICAL() vTaskExitCritical() + +/* As this port allows interrupt nesting... */ +#define portSET_INTERRUPT_MASK_FROM_ISR() ( UBaseType_t ) get_ipl(); set_ipl( ( long ) configMAX_SYSCALL_INTERRUPT_PRIORITY ) +#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ) set_ipl( ( long ) uxSavedInterruptStatus ) + +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ +