2 * FreeRTOS Kernel V10.3.0
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3 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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31 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
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34 /*-----------------------------------------------------------
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35 * Implementation of functions defined in portable.h for the PIC24 port.
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36 *----------------------------------------------------------*/
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38 /* Scheduler include files. */
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39 #include "FreeRTOS.h"
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42 /* Hardware specifics. */
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43 #define portBIT_SET 1
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44 #define portTIMER_PRESCALE 8
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45 #define portINITIAL_SR 0
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47 /* Defined for backward compatability with project created prior to
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48 FreeRTOS.org V4.3.0. */
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49 #ifndef configKERNEL_INTERRUPT_PRIORITY
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50 #define configKERNEL_INTERRUPT_PRIORITY 1
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53 /* Use _T1Interrupt as the interrupt handler name if the application writer has
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54 not provided their own. */
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55 #ifndef configTICK_INTERRUPT_HANDLER
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56 #define configTICK_INTERRUPT_HANDLER _T1Interrupt
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57 #endif /* configTICK_INTERRUPT_HANDLER */
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59 /* The program counter is only 23 bits. */
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60 #define portUNUSED_PR_BITS 0x7f
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62 /* Records the nesting depth of calls to portENTER_CRITICAL(). */
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63 UBaseType_t uxCriticalNesting = 0xef;
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65 #if configKERNEL_INTERRUPT_PRIORITY != 1
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66 #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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69 #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
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72 #define portRESTORE_CONTEXT() \
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73 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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74 "MOV [W0], W15 \n" \
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75 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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76 "MOV W0, _uxCriticalNesting \n" \
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81 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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91 #else /* __HAS_EDS__ */
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92 #define portRESTORE_CONTEXT() \
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93 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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94 "MOV [W0], W15 \n" \
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95 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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96 "MOV W0, _uxCriticalNesting \n" \
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100 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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110 #endif /* __HAS_EDS__ */
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111 #endif /* MPLAB_PIC24_PORT */
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113 #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )
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115 #define portRESTORE_CONTEXT() \
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116 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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117 "MOV [W0], W15 \n" \
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118 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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119 "MOV W0, _uxCriticalNesting \n" \
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124 "POP DOSTARTH \n" \
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125 "POP DOSTARTL \n" \
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134 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
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145 #endif /* MPLAB_DSPIC_PORT */
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147 #ifndef portRESTORE_CONTEXT
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148 #error Unrecognised device selected
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150 /* Note: dsPIC parts with EDS are not supported as there is no easy way to
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151 recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
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155 * Setup the timer used to generate the tick interrupt.
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157 void vApplicationSetupTickTimerInterrupt( void );
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160 * See header file for description.
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162 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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167 const StackType_t xInitialStack[] =
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183 0xcdce, /* RCOUNT */
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184 0xabac, /* TBLPAG */
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186 /* dsPIC specific registers. */
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187 #ifdef MPLAB_DSPIC_PORT
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188 0x0202, /* ACCAL */
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189 0x0303, /* ACCAH */
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190 0x0404, /* ACCAU */
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191 0x0505, /* ACCBL */
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192 0x0606, /* ACCBH */
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193 0x0707, /* ACCBU */
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194 0x0808, /* DCOUNT */
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195 0x090a, /* DOSTARTL */
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196 0x1010, /* DOSTARTH */
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197 0x1110, /* DOENDL */
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198 0x1212, /* DOENDH */
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202 /* Setup the stack as if a yield had occurred.
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204 Save the low bytes of the program counter. */
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205 usCode = ( uint16_t ) pxCode;
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206 *pxTopOfStack = ( StackType_t ) usCode;
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209 /* Save the high byte of the program counter. This will always be zero
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210 here as it is passed in a 16bit pointer. If the address is greater than
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211 16 bits then the pointer will point to a jump table. */
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212 *pxTopOfStack = ( StackType_t ) 0;
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215 /* Status register with interrupts enabled. */
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216 *pxTopOfStack = portINITIAL_SR;
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219 /* Parameters are passed in W0. */
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220 *pxTopOfStack = ( StackType_t ) pvParameters;
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223 for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
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225 *pxTopOfStack = xInitialStack[ i ];
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229 *pxTopOfStack = CORCON;
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232 #if defined(__HAS_EDS__)
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233 *pxTopOfStack = DSRPAG;
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235 *pxTopOfStack = DSWPAG;
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237 #else /* __HAS_EDS__ */
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238 *pxTopOfStack = PSVPAG;
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240 #endif /* __HAS_EDS__ */
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242 /* Finally the critical nesting depth. */
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243 *pxTopOfStack = 0x00;
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246 return pxTopOfStack;
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248 /*-----------------------------------------------------------*/
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250 BaseType_t xPortStartScheduler( void )
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252 /* Setup a timer for the tick ISR. */
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253 vApplicationSetupTickTimerInterrupt();
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255 /* Restore the context of the first task to run. */
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256 portRESTORE_CONTEXT();
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258 /* Simulate the end of the yield function. */
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259 asm volatile ( "return" );
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261 /* Should not reach here. */
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264 /*-----------------------------------------------------------*/
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266 void vPortEndScheduler( void )
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268 /* Not implemented in ports where there is nothing to return to.
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269 Artificially force an assert. */
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270 configASSERT( uxCriticalNesting == 1000UL );
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272 /*-----------------------------------------------------------*/
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275 * Setup a timer for a regular tick.
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277 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
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279 const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
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281 /* Prescale of 8. */
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285 PR1 = ( uint16_t ) ulCompareMatch;
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287 /* Setup timer 1 interrupt priority. */
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288 IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
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290 /* Clear the interrupt as a starting condition. */
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293 /* Enable the interrupt. */
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296 /* Setup the prescale value. */
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297 T1CONbits.TCKPS0 = 1;
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298 T1CONbits.TCKPS1 = 0;
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300 /* Start the timer. */
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303 /*-----------------------------------------------------------*/
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305 void vPortEnterCritical( void )
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307 portDISABLE_INTERRUPTS();
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308 uxCriticalNesting++;
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310 /*-----------------------------------------------------------*/
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312 void vPortExitCritical( void )
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314 configASSERT( uxCriticalNesting );
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315 uxCriticalNesting--;
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316 if( uxCriticalNesting == 0 )
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318 portENABLE_INTERRUPTS();
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321 /*-----------------------------------------------------------*/
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323 void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
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325 /* Clear the timer interrupt. */
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328 if( xTaskIncrementTick() != pdFALSE )
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