From 465e8275991967d67a558c62d852d4dd99fdda42 Mon Sep 17 00:00:00 2001 From: richardbarry Date: Sat, 1 Jan 2011 17:23:00 +0000 Subject: [PATCH] Add MSP430X CCS4 port layer. git-svn-id: https://svn.code.sf.net/p/freertos/code/trunk@1204 1d2547de-c912-0410-9cb9-b8ca96c0e9e2 --- Source/portable/CCS4/MSP430X/port.c | 188 +++++++++++++++++++++++ Source/portable/CCS4/MSP430X/portext.asm | 173 +++++++++++++++++++++ Source/portable/CCS4/MSP430X/portmacro.h | 154 +++++++++++++++++++ 3 files changed, 515 insertions(+) create mode 100644 Source/portable/CCS4/MSP430X/port.c create mode 100644 Source/portable/CCS4/MSP430X/portext.asm create mode 100644 Source/portable/CCS4/MSP430X/portmacro.h diff --git a/Source/portable/CCS4/MSP430X/port.c b/Source/portable/CCS4/MSP430X/port.c new file mode 100644 index 000000000..fa5e9300f --- /dev/null +++ b/Source/portable/CCS4/MSP430X/port.c @@ -0,0 +1,188 @@ +/* + FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS books - available as PDF or paperback * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). 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 exception 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. +*/ + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the MSP430X port. + *----------------------------------------------------------*/ + +/* Constants required for hardware setup. The tick ISR runs off the ACLK, +not the MCLK. */ +#define portACLK_FREQUENCY_HZ ( ( portTickType ) 32768 ) +#define portINITIAL_CRITICAL_NESTING ( ( unsigned short ) 10 ) +#define portFLAGS_INT_ENABLED ( ( portSTACK_TYPE ) 0x08 ) + +/* We require the address of the pxCurrentTCB variable, but don't want to know +any details of its type. */ +typedef void tskTCB; +extern volatile tskTCB * volatile pxCurrentTCB; + +/* Each task maintains a count of the critical section nesting depth. Each +time a critical section is entered the count is incremented. Each time a +critical section is exited the count is decremented - with interrupts only +being re-enabled if the count is zero. + +usCriticalNesting will get set to zero when the scheduler starts, but must +not be initialised to zero as this will cause problems during the startup +sequence. */ +volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING; +/*-----------------------------------------------------------*/ + + +/* + * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but + * could have alternatively used the watchdog timer or timer 1. + */ +void vPortSetupTimerInterrupt( void ); +/*-----------------------------------------------------------*/ + +/* + * Initialise the stack of a task to look exactly as if a call to + * portSAVE_CONTEXT had been called. + * + * See the header file portable.h. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) +{ +unsigned short *pusTopOfStack; + + /* + Place a few bytes of known values on the bottom of the stack. + This is just useful for debugging and can be included if required. + + *pxTopOfStack = ( portSTACK_TYPE ) 0x1111; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x2222; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x3333; + pxTopOfStack--; + */ + + *pxTopOfStack = ( portSTACK_TYPE ) pxCode; + pusTopOfStack = ( unsigned short * ) pxTopOfStack; + pusTopOfStack--; + *pusTopOfStack = portFLAGS_INT_ENABLED; + pusTopOfStack -= 2; + pxTopOfStack = ( portSTACK_TYPE * ) pusTopOfStack; + + /* Next the general purpose registers. */ + *pxTopOfStack = ( portSTACK_TYPE ) 0xffffff; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0xeeeeee; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0xdddddd; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0xbbbbbb; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0xaaaaaa; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x999999; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x888888; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x555555; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x666666; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x555555; + pxTopOfStack--; + *pxTopOfStack = ( portSTACK_TYPE ) 0x444444; + pxTopOfStack--; + + /* A variable is used to keep track of the critical section nesting. + This variable has to be stored as part of the task context and is + initially set to zero. */ + *pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; + + /* Return a pointer to the top of the stack we have generated so this can + be stored in the task control block for the task. */ + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the MSP430 port will get stopped. If required simply + disable the tick interrupt here. */ +} +/*-----------------------------------------------------------*/ + +/* + * Hardware initialisation to generate the RTOS tick. + */ +void vPortSetupTimerInterrupt( void ) +{ + vApplicationSetupTimerInterrupt(); +} +/*-----------------------------------------------------------*/ + +#pragma vector=configTICK_INTERRUPT_VECTOR +interrupt void vTickISREntry( void ) +{ +extern void vPortTickISR( void ); + + #if configUSE_PREEMPTION == 1 + extern void vPortPreemptiveTickISR( void ); + vPortPreemptiveTickISR(); + #else + extern void vPortCooperativeTickISR( void ); + vPortCooperativeTickISR(); + #endif +} + + diff --git a/Source/portable/CCS4/MSP430X/portext.asm b/Source/portable/CCS4/MSP430X/portext.asm new file mode 100644 index 000000000..97c69b65e --- /dev/null +++ b/Source/portable/CCS4/MSP430X/portext.asm @@ -0,0 +1,173 @@ +; +; FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. +; +; *************************************************************************** +; * * +; * If you are: * +; * * +; * + New to FreeRTOS, * +; * + Wanting to learn FreeRTOS or multitasking in general quickly * +; * + Looking for basic training, * +; * + Wanting to improve your FreeRTOS skills and productivity * +; * * +; * then take a look at the FreeRTOS books - available as PDF or paperback * +; * * +; * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * +; * http://www.FreeRTOS.org/Documentation * +; * * +; * A pdf reference manual is also available. Both are usually delivered * +; * to your inbox within 20 minutes to two hours when purchased between 8am * +; * and 8pm GMT (although please allow up to 24 hours in case of * +; * exceptional circumstances). 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 exception 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. + +; * The definition of the "register test" tasks, as described at the top of +; * main.c + + .global vTaskIncrementTick + .global vTaskSwitchContext + .global vPortSetupTimerInterrupt + .global pxCurrentTCB + .global usCriticalNesting + + .def vPortPreemptiveTickISR + .def vPortCooperativeTickISR + .def vPortYield + .def xPortStartScheduler + +;----------------------------------------------------------- + +portSAVE_CONTEXT .macro + + ;Save the remaining registers. + pushm.a #12, r15 + movx.w &usCriticalNesting, r14 + pushx.a r14 + movx.a &pxCurrentTCB, r12 + movx.a sp, 0( r12 ) + .endm +;----------------------------------------------------------- + +portRESTORE_CONTEXT .macro + + movx.a &pxCurrentTCB, r12 + movx.a @r12, sp + popx.a r15 + movx.w r15, &usCriticalNesting + popm.a #12, r15 + + ;The last thing on the stack will be the status register. + ;Ensure the power down bits are clear ready for the next + ;time this power down register is popped from the stack. + bic.w #0xf0, 0( sp ) + + pop.w sr + reta + .endm +;----------------------------------------------------------- + +;* +;* The RTOS tick ISR. +;* +;* If the cooperative scheduler is in use this simply increments the tick +;* count. +;* +;* If the preemptive scheduler is in use a context switch can also occur. +;*/ + + .text + +vPortPreemptiveTickISR: + + ; The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs + ;to save it manually before it gets modified (interrupts get disabled). + push.w sr + portSAVE_CONTEXT + + calla #vTaskIncrementTick + calla #vTaskSwitchContext + + portRESTORE_CONTEXT +;----------------------------------------------------------- + +vPortCooperativeTickISR: + + ; The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs + ;to save it manually before it gets modified (interrupts get disabled). + push.w sr + portSAVE_CONTEXT + + calla #vTaskIncrementTick + calla #vTaskSwitchContext + + portRESTORE_CONTEXT +;----------------------------------------------------------- + +;* +;* Manual context switch called by the portYIELD() macro. +;*/ +vPortYield: + + ; The sr needs saving before it is modified. + push.w sr + + ; Now the SR is stacked we can disable interrupts. + dint + nop + + ; Save the context of the current task. + portSAVE_CONTEXT + + ; Select the next task to run. + calla #vTaskSwitchContext + + ; Restore the context of the new task. + portRESTORE_CONTEXT +;----------------------------------------------------------- + + +;* +;* Start off the scheduler by initialising the RTOS tick timer, then restoring +;* the context of the first task. +;* +xPortStartScheduler: + + ; Setup the hardware to generate the tick. Interrupts are disabled + ; when this function is called. + calla #vPortSetupTimerInterrupt + + ; Restore the context of the first task that is going to run. + portRESTORE_CONTEXT +;----------------------------------------------------------- + + .end + diff --git a/Source/portable/CCS4/MSP430X/portmacro.h b/Source/portable/CCS4/MSP430X/portmacro.h new file mode 100644 index 000000000..3929bffdf --- /dev/null +++ b/Source/portable/CCS4/MSP430X/portmacro.h @@ -0,0 +1,154 @@ +/* + FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. + + *************************************************************************** + * * + * If you are: * + * * + * + New to FreeRTOS, * + * + Wanting to learn FreeRTOS or multitasking in general quickly * + * + Looking for basic training, * + * + Wanting to improve your FreeRTOS skills and productivity * + * * + * then take a look at the FreeRTOS books - available as PDF or paperback * + * * + * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * + * http://www.FreeRTOS.org/Documentation * + * * + * A pdf reference manual is also available. Both are usually delivered * + * to your inbox within 20 minutes to two hours when purchased between 8am * + * and 8pm GMT (although please allow up to 24 hours in case of * + * exceptional circumstances). 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 exception 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. +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Hardware includes. */ +#include "msp430.h" + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT int +#define portSTACK_TYPE unsigned portLONG +#define portBASE_TYPE portSHORT + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef unsigned portSHORT portTickType; + #define portMAX_DELAY ( portTickType ) 0xffff +#else + typedef unsigned portLONG portTickType; + #define portMAX_DELAY ( portTickType ) 0xffffffff +#endif + +/*-----------------------------------------------------------*/ + +/* Interrupt control macros. */ +#define portDISABLE_INTERRUPTS() _disable_interrupt() +#define portENABLE_INTERRUPTS() _enable_interrupt() +/*-----------------------------------------------------------*/ + +/* Critical section control macros. */ +#define portNO_CRITICAL_SECTION_NESTING ( ( unsigned portSHORT ) 0 ) + +#define portENTER_CRITICAL() \ +{ \ +extern volatile unsigned short usCriticalNesting; \ + \ + portDISABLE_INTERRUPTS(); \ + \ + /* Now interrupts are disabled usCriticalNesting can be accessed */ \ + /* directly. Increment ulCriticalNesting to keep a count of how many */ \ + /* times portENTER_CRITICAL() has been called. */ \ + usCriticalNesting++; \ +} + +#define portEXIT_CRITICAL() \ +{ \ +extern volatile unsigned short usCriticalNesting; \ + \ + if( usCriticalNesting > portNO_CRITICAL_SECTION_NESTING ) \ + { \ + /* Decrement the nesting count as we are leaving a critical section. */ \ + usCriticalNesting--; \ + \ + /* If the nesting level has reached zero then interrupts should be */ \ + /* re-enabled. */ \ + if( usCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \ + { \ + portENABLE_INTERRUPTS(); \ + } \ + } \ +} +/*-----------------------------------------------------------*/ + +/* Task utilities. */ + +/* + * Manual context switch called by portYIELD or taskYIELD. + */ +extern void vPortYield( void ); +#define portYIELD() vPortYield() +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 4 +#define portSTACK_GROWTH ( -1 ) +#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) +#define portNOP() +/*-----------------------------------------------------------*/ + +/* 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 ) + +extern void vTaskSwitchContext( void ); +#define portYIELD_FROM_ISR( x ) if( x ) vPortYield() + +void vApplicationSetupTimerInterrupt( void ); + +#endif /* PORTMACRO_H */ + -- 2.39.5