2 * FreeRTOS Kernel V10.0.0
\r
3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
\r
5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
\r
6 * this software and associated documentation files (the "Software"), to deal in
\r
7 * the Software without restriction, including without limitation the rights to
\r
8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
\r
9 * the Software, and to permit persons to whom the Software is furnished to do so,
\r
10 * subject to the following conditions:
\r
12 * The above copyright notice and this permission notice shall be included in all
\r
13 * copies or substantial portions of the Software. If you wish to use our Amazon
\r
14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
\r
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
\r
17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
\r
18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
\r
19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
\r
20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
\r
21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
\r
23 * http://www.FreeRTOS.org
\r
24 * http://aws.amazon.com/freertos
\r
26 * 1 tab == 4 spaces!
\r
32 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition.
\r
35 /*-----------------------------------------------------------
\r
36 * Implementation of functions defined in portable.h for the PIC24 port.
\r
37 *----------------------------------------------------------*/
\r
39 /* Scheduler include files. */
\r
40 #include "FreeRTOS.h"
\r
43 /* Hardware specifics. */
\r
44 #define portBIT_SET 1
\r
45 #define portTIMER_PRESCALE 8
\r
46 #define portINITIAL_SR 0
\r
48 /* Defined for backward compatability with project created prior to
\r
49 FreeRTOS.org V4.3.0. */
\r
50 #ifndef configKERNEL_INTERRUPT_PRIORITY
\r
51 #define configKERNEL_INTERRUPT_PRIORITY 1
\r
54 /* Use _T1Interrupt as the interrupt handler name if the application writer has
\r
55 not provided their own. */
\r
56 #ifndef configTICK_INTERRUPT_HANDLER
\r
57 #define configTICK_INTERRUPT_HANDLER _T1Interrupt
\r
58 #endif /* configTICK_INTERRUPT_HANDLER */
\r
60 /* The program counter is only 23 bits. */
\r
61 #define portUNUSED_PR_BITS 0x7f
\r
63 /* Records the nesting depth of calls to portENTER_CRITICAL(). */
\r
64 UBaseType_t uxCriticalNesting = 0xef;
\r
66 #if configKERNEL_INTERRUPT_PRIORITY != 1
\r
67 #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 )
\r
70 #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
\r
73 #define portRESTORE_CONTEXT() \
\r
74 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
\r
75 "MOV [W0], W15 \n" \
\r
76 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
\r
77 "MOV W0, _uxCriticalNesting \n" \
\r
82 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
\r
92 #else /* __HAS_EDS__ */
\r
93 #define portRESTORE_CONTEXT() \
\r
94 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
\r
95 "MOV [W0], W15 \n" \
\r
96 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
\r
97 "MOV W0, _uxCriticalNesting \n" \
\r
101 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
\r
111 #endif /* __HAS_EDS__ */
\r
112 #endif /* MPLAB_PIC24_PORT */
\r
114 #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )
\r
116 #define portRESTORE_CONTEXT() \
\r
117 asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
\r
118 "MOV [W0], W15 \n" \
\r
119 "POP W0 \n" /* Restore the critical nesting counter for the task. */ \
\r
120 "MOV W0, _uxCriticalNesting \n" \
\r
125 "POP DOSTARTH \n" \
\r
126 "POP DOSTARTL \n" \
\r
135 "POP RCOUNT \n" /* Restore the registers from the stack. */ \
\r
146 #endif /* MPLAB_DSPIC_PORT */
\r
148 #ifndef portRESTORE_CONTEXT
\r
149 #error Unrecognised device selected
\r
151 /* Note: dsPIC parts with EDS are not supported as there is no easy way to
\r
152 recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */
\r
156 * Setup the timer used to generate the tick interrupt.
\r
158 void vApplicationSetupTickTimerInterrupt( void );
\r
161 * See header file for description.
\r
163 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
\r
168 const StackType_t xInitialStack[] =
\r
184 0xcdce, /* RCOUNT */
\r
185 0xabac, /* TBLPAG */
\r
187 /* dsPIC specific registers. */
\r
188 #ifdef MPLAB_DSPIC_PORT
\r
189 0x0202, /* ACCAL */
\r
190 0x0303, /* ACCAH */
\r
191 0x0404, /* ACCAU */
\r
192 0x0505, /* ACCBL */
\r
193 0x0606, /* ACCBH */
\r
194 0x0707, /* ACCBU */
\r
195 0x0808, /* DCOUNT */
\r
196 0x090a, /* DOSTARTL */
\r
197 0x1010, /* DOSTARTH */
\r
198 0x1110, /* DOENDL */
\r
199 0x1212, /* DOENDH */
\r
203 /* Setup the stack as if a yield had occurred.
\r
205 Save the low bytes of the program counter. */
\r
206 usCode = ( uint16_t ) pxCode;
\r
207 *pxTopOfStack = ( StackType_t ) usCode;
\r
210 /* Save the high byte of the program counter. This will always be zero
\r
211 here as it is passed in a 16bit pointer. If the address is greater than
\r
212 16 bits then the pointer will point to a jump table. */
\r
213 *pxTopOfStack = ( StackType_t ) 0;
\r
216 /* Status register with interrupts enabled. */
\r
217 *pxTopOfStack = portINITIAL_SR;
\r
220 /* Parameters are passed in W0. */
\r
221 *pxTopOfStack = ( StackType_t ) pvParameters;
\r
224 for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ )
\r
226 *pxTopOfStack = xInitialStack[ i ];
\r
230 *pxTopOfStack = CORCON;
\r
233 #if defined(__HAS_EDS__)
\r
234 *pxTopOfStack = DSRPAG;
\r
236 *pxTopOfStack = DSWPAG;
\r
238 #else /* __HAS_EDS__ */
\r
239 *pxTopOfStack = PSVPAG;
\r
241 #endif /* __HAS_EDS__ */
\r
243 /* Finally the critical nesting depth. */
\r
244 *pxTopOfStack = 0x00;
\r
247 return pxTopOfStack;
\r
249 /*-----------------------------------------------------------*/
\r
251 BaseType_t xPortStartScheduler( void )
\r
253 /* Setup a timer for the tick ISR. */
\r
254 vApplicationSetupTickTimerInterrupt();
\r
256 /* Restore the context of the first task to run. */
\r
257 portRESTORE_CONTEXT();
\r
259 /* Simulate the end of the yield function. */
\r
260 asm volatile ( "return" );
\r
262 /* Should not reach here. */
\r
265 /*-----------------------------------------------------------*/
\r
267 void vPortEndScheduler( void )
\r
269 /* Not implemented in ports where there is nothing to return to.
\r
270 Artificially force an assert. */
\r
271 configASSERT( uxCriticalNesting == 1000UL );
\r
273 /*-----------------------------------------------------------*/
\r
276 * Setup a timer for a regular tick.
\r
278 __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
\r
280 const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1;
\r
282 /* Prescale of 8. */
\r
286 PR1 = ( uint16_t ) ulCompareMatch;
\r
288 /* Setup timer 1 interrupt priority. */
\r
289 IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY;
\r
291 /* Clear the interrupt as a starting condition. */
\r
294 /* Enable the interrupt. */
\r
297 /* Setup the prescale value. */
\r
298 T1CONbits.TCKPS0 = 1;
\r
299 T1CONbits.TCKPS1 = 0;
\r
301 /* Start the timer. */
\r
304 /*-----------------------------------------------------------*/
\r
306 void vPortEnterCritical( void )
\r
308 portDISABLE_INTERRUPTS();
\r
309 uxCriticalNesting++;
\r
311 /*-----------------------------------------------------------*/
\r
313 void vPortExitCritical( void )
\r
315 configASSERT( uxCriticalNesting );
\r
316 uxCriticalNesting--;
\r
317 if( uxCriticalNesting == 0 )
\r
319 portENABLE_INTERRUPTS();
\r
322 /*-----------------------------------------------------------*/
\r
324 void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void )
\r
326 /* Clear the timer interrupt. */
\r
329 if( xTaskIncrementTick() != pdFALSE )
\r
projects / freertos / blob