2 FreeRTOS V8.2.3 - Copyright (C) 2015 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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73 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
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76 /*-----------------------------------------------------------
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77 * Implementation of functions defined in portable.h for the PIC24 port.
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78 *----------------------------------------------------------*/
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80 /* Scheduler include files. */
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81 #include "FreeRTOS.h"
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84 /* Hardware specifics. */
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85 #define portBIT_SET 1
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86 #define portTIMER_PRESCALE 8
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87 #define portINITIAL_SR 0
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89 /* Defined for backward compatability with project created prior to
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90 FreeRTOS.org V4.3.0. */
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91 #ifndef configKERNEL_INTERRUPT_PRIORITY
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92 #define configKERNEL_INTERRUPT_PRIORITY 1
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95 /* Use _T1Interrupt as the interrupt handler name if the application writer has
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96 not provided their own. */
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97 #ifndef configTICK_INTERRUPT_HANDLER
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98 #define configTICK_INTERRUPT_HANDLER _T1Interrupt
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99 #endif /* configTICK_INTERRUPT_HANDLER */
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101 /* The program counter is only 23 bits. */
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102 #define portUNUSED_PR_BITS 0x7f
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104 /* Records the nesting depth of calls to portENTER_CRITICAL(). */
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105 UBaseType_t uxCriticalNesting = 0xef;
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107 #if configKERNEL_INTERRUPT_PRIORITY != 1
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108 #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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111 #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
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114 #define portRESTORE_CONTEXT() \
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115 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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116 "MOV [W0], W15 \n" \
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117 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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118 "MOV W0, _uxCriticalNesting \n" \
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123 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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133 #else /* __HAS_EDS__ */
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134 #define portRESTORE_CONTEXT() \
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135 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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136 "MOV [W0], W15 \n" \
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137 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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138 "MOV W0, _uxCriticalNesting \n" \
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142 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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152 #endif /* __HAS_EDS__ */
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153 #endif /* MPLAB_PIC24_PORT */
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155 #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )
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157 #define portRESTORE_CONTEXT() \
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158 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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159 "MOV [W0], W15 \n" \
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160 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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161 "MOV W0, _uxCriticalNesting \n" \
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166 "POP DOSTARTH \n" \
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167 "POP DOSTARTL \n" \
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176 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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187 #endif /* MPLAB_DSPIC_PORT */
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189 #ifndef portRESTORE_CONTEXT
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190 #error Unrecognised device selected
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192 /* Note: dsPIC parts with EDS are not supported as there is no easy way to
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193 recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
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197 * Setup the timer used to generate the tick interrupt.
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199 void vApplicationSetupTickTimerInterrupt( void );
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202 * See header file for description.
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204 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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209 const StackType_t xInitialStack[] =
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225 0xcdce, /* RCOUNT */
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226 0xabac, /* TBLPAG */
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228 /* dsPIC specific registers. */
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229 #ifdef MPLAB_DSPIC_PORT
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230 0x0202, /* ACCAL */
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231 0x0303, /* ACCAH */
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232 0x0404, /* ACCAU */
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233 0x0505, /* ACCBL */
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234 0x0606, /* ACCBH */
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235 0x0707, /* ACCBU */
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236 0x0808, /* DCOUNT */
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237 0x090a, /* DOSTARTL */
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238 0x1010, /* DOSTARTH */
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239 0x1110, /* DOENDL */
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240 0x1212, /* DOENDH */
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244 /* Setup the stack as if a yield had occurred.
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246 Save the low bytes of the program counter. */
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247 usCode = ( uint16_t ) pxCode;
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248 *pxTopOfStack = ( StackType_t ) usCode;
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251 /* Save the high byte of the program counter. This will always be zero
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252 here as it is passed in a 16bit pointer. If the address is greater than
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253 16 bits then the pointer will point to a jump table. */
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254 *pxTopOfStack = ( StackType_t ) 0;
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257 /* Status register with interrupts enabled. */
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258 *pxTopOfStack = portINITIAL_SR;
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261 /* Parameters are passed in W0. */
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262 *pxTopOfStack = ( StackType_t ) pvParameters;
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265 for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
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267 *pxTopOfStack = xInitialStack[ i ];
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271 *pxTopOfStack = CORCON;
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274 #if defined(__HAS_EDS__)
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275 *pxTopOfStack = DSRPAG;
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277 *pxTopOfStack = DSWPAG;
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279 #else /* __HAS_EDS__ */
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280 *pxTopOfStack = PSVPAG;
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282 #endif /* __HAS_EDS__ */
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284 /* Finally the critical nesting depth. */
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285 *pxTopOfStack = 0x00;
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288 return pxTopOfStack;
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290 /*-----------------------------------------------------------*/
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292 BaseType_t xPortStartScheduler( void )
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294 /* Setup a timer for the tick ISR. */
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295 vApplicationSetupTickTimerInterrupt();
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297 /* Restore the context of the first task to run. */
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298 portRESTORE_CONTEXT();
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300 /* Simulate the end of the yield function. */
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301 asm volatile ( "return" );
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303 /* Should not reach here. */
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306 /*-----------------------------------------------------------*/
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308 void vPortEndScheduler( void )
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310 /* Not implemented in ports where there is nothing to return to.
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311 Artificially force an assert. */
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312 configASSERT( uxCriticalNesting == 1000UL );
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314 /*-----------------------------------------------------------*/
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317 * Setup a timer for a regular tick.
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319 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
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321 const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
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323 /* Prescale of 8. */
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327 PR1 = ( uint16_t ) ulCompareMatch;
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329 /* Setup timer 1 interrupt priority. */
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330 IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
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332 /* Clear the interrupt as a starting condition. */
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335 /* Enable the interrupt. */
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338 /* Setup the prescale value. */
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339 T1CONbits.TCKPS0 = 1;
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340 T1CONbits.TCKPS1 = 0;
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342 /* Start the timer. */
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345 /*-----------------------------------------------------------*/
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347 void vPortEnterCritical( void )
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349 portDISABLE_INTERRUPTS();
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350 uxCriticalNesting++;
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352 /*-----------------------------------------------------------*/
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354 void vPortExitCritical( void )
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356 configASSERT( uxCriticalNesting );
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357 uxCriticalNesting--;
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358 if( uxCriticalNesting == 0 )
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360 portENABLE_INTERRUPTS();
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363 /*-----------------------------------------------------------*/
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365 void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
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367 /* Clear the timer interrupt. */
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370 if( xTaskIncrementTick() != pdFALSE )
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