2 FreeRTOS V8.0.0 - Copyright (C) 2014 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /*-----------------------------------------------------------
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67 * Implementation of functions defined in portable.h for the RX600 port.
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68 *----------------------------------------------------------*/
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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74 /* Library includes. */
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77 /* Hardware specifics. */
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78 #include "r_cg_iodefine.h"
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80 /*-----------------------------------------------------------*/
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81 #define USE_FULL_REGISTER_INITIALISATION
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83 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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84 PSW is set with U and I set, and PM and IPL clear. */
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85 #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )
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86 #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )
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88 /*-----------------------------------------------------------*/
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90 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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91 and therefore installed in the vector table, when the FreeRTOS code is built
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93 extern BaseType_t vSoftwareInterruptEntry;
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94 const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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96 /*-----------------------------------------------------------*/
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99 * Function to start the first task executing - written in asm code as direct
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100 * access to registers is required.
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102 static void prvStartFirstTask( void );
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105 * Software interrupt handler. Performs the actual context switch (saving and
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106 * restoring of registers). Written in asm code as direct register access is
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109 static void prvYieldHandler( void );
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112 * The entry point for the software interrupt handler. This is the function
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113 * that calls the inline asm function prvYieldHandler(). It is installed in
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114 * the vector table, but the code that installs it is in prvYieldHandler rather
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115 * than using a #pragma.
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117 void vSoftwareInterruptISR( void );
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119 /*-----------------------------------------------------------*/
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121 /* This is accessed by the inline assembler functions so is file scope for
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123 extern void *pxCurrentTCB;
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124 extern void vTaskSwitchContext( void );
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126 /*-----------------------------------------------------------*/
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129 * See header file for description.
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131 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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133 /* R0 is not included as it is the stack pointer. */
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135 *pxTopOfStack = 0x00;
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137 *pxTopOfStack = portINITIAL_PSW;
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139 *pxTopOfStack = ( StackType_t ) pxCode;
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141 /* When debugging it can be useful if every register is set to a known
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142 value. Otherwise code space can be saved by just setting the registers
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143 that need to be set. */
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144 #ifdef USE_FULL_REGISTER_INITIALISATION
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147 *pxTopOfStack = 0xffffffff; /* r15. */
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149 *pxTopOfStack = 0xeeeeeeee;
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151 *pxTopOfStack = 0xdddddddd;
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153 *pxTopOfStack = 0xcccccccc;
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155 *pxTopOfStack = 0xbbbbbbbb;
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157 *pxTopOfStack = 0xaaaaaaaa;
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159 *pxTopOfStack = 0x99999999;
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161 *pxTopOfStack = 0x88888888;
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163 *pxTopOfStack = 0x77777777;
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165 *pxTopOfStack = 0x66666666;
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167 *pxTopOfStack = 0x55555555;
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169 *pxTopOfStack = 0x44444444;
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171 *pxTopOfStack = 0x33333333;
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173 *pxTopOfStack = 0x22222222;
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178 pxTopOfStack -= 15;
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182 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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184 *pxTopOfStack = portINITIAL_FPSW;
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186 *pxTopOfStack = 0x11111111; /* Accumulator 0. */
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188 *pxTopOfStack = 0x22222222; /* Accumulator 0. */
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190 *pxTopOfStack = 0x33333333; /* Accumulator 0. */
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192 *pxTopOfStack = 0x44444444; /* Accumulator 1. */
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194 *pxTopOfStack = 0x55555555; /* Accumulator 1. */
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196 *pxTopOfStack = 0x66666666; /* Accumulator 1. */
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198 return pxTopOfStack;
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200 /*-----------------------------------------------------------*/
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202 BaseType_t xPortStartScheduler( void )
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204 extern void vApplicationSetupTimerInterrupt( void );
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206 /* Use pxCurrentTCB just so it does not get optimised away. */
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207 if( pxCurrentTCB != NULL )
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209 /* Call an application function to set up the timer that will generate the
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210 tick interrupt. This way the application can decide which peripheral to
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211 use. A demo application is provided to show a suitable example. */
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212 vApplicationSetupTimerInterrupt();
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214 /* Enable the software interrupt. */
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215 _IEN( _ICU_SWINT ) = 1;
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217 /* Ensure the software interrupt is clear. */
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218 _IR( _ICU_SWINT ) = 0;
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220 /* Ensure the software interrupt is set to the kernel priority. */
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221 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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223 /* Start the first task. */
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224 prvStartFirstTask();
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227 /* Just to make sure the function is not optimised away. */
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228 ( void ) vSoftwareInterruptISR();
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230 /* Should not get here. */
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233 /*-----------------------------------------------------------*/
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235 #pragma inline_asm prvStartFirstTask
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236 static void prvStartFirstTask( void )
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238 /* When starting the scheduler there is nothing that needs moving to the
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239 interrupt stack because the function is not called from an interrupt.
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240 Just ensure the current stack is the user stack. */
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243 /* Obtain the location of the stack associated with which ever task
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244 pxCurrentTCB is currently pointing to. */
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245 MOV.L #_pxCurrentTCB, R15
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249 /* Restore the registers from the stack of the task pointed to by
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252 MVTACLO R15, A0 /* Accumulator low 32 bits. */
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254 MVTACHI R15, A0 /* Accumulator high 32 bits. */
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256 MVTACGU R15, A0 /* Accumulator guard. */
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258 MVTACLO R15, A1 /* Accumulator low 32 bits. */
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260 MVTACHI R15, A1 /* Accumulator high 32 bits. */
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262 MVTACGU R15, A1 /* Accumulator guard. */
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264 MVTC R15,FPSW /* Floating point status word. */
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265 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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266 RTE /* This pops the remaining registers. */
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270 /*-----------------------------------------------------------*/
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272 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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273 void vTickISR( void )
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275 /* Increment the tick, and perform any processing the new tick value
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277 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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279 if( xTaskIncrementTick() != pdFALSE )
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284 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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286 /*-----------------------------------------------------------*/
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288 void vSoftwareInterruptISR( void )
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292 /*-----------------------------------------------------------*/
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294 #pragma inline_asm prvYieldHandler
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295 static void prvYieldHandler( void )
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297 /* Re-enable interrupts. */
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300 /* Move the data that was automatically pushed onto the interrupt stack when
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301 the interrupt occurred from the interrupt stack to the user stack.
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303 R15 is saved before it is clobbered. */
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306 /* Read the user stack pointer. */
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309 /* Move the address down to the data being moved. */
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313 /* Copy the data across. */
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314 MOV.L [ R0 ], [ R15 ] ; R15
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315 MOV.L 4[ R0 ], 4[ R15 ] ; PC
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316 MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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318 /* Move the interrupt stack pointer to its new correct position. */
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321 /* All the rest of the registers are saved directly to the user stack. */
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324 /* Save the rest of the general registers (R15 has been saved already). */
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327 /* Save the FPSW and accumulator. */
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330 MVFACGU #0, A1, R15
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332 MVFACHI #0, A1, R15
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334 MVFACLO #0, A1, R15 ; Low order word.
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336 MVFACGU #0, A0, R15
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338 MVFACHI #0, A0, R15
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340 MVFACLO #0, A0, R15 ; Low order word.
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343 /* Save the stack pointer to the TCB. */
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344 MOV.L #_pxCurrentTCB, R15
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348 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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349 structures are being accessed. */
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350 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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352 /* Select the next task to run. */
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353 BSR.A _vTaskSwitchContext
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355 /* Reset the interrupt mask as no more data structure access is required. */
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356 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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358 /* Load the stack pointer of the task that is now selected as the Running
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359 state task from its TCB. */
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360 MOV.L #_pxCurrentTCB,R15
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364 /* Restore the context of the new task. The PSW (Program Status Word) and
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365 PC will be popped by the RTE instruction. */
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367 MVTACLO R15, A0 /* Accumulator low 32 bits. */
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369 MVTACHI R15, A0 /* Accumulator high 32 bits. */
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371 MVTACGU R15, A0 /* Accumulator guard. */
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373 MVTACLO R15, A1 /* Accumulator low 32 bits. */
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375 MVTACHI R15, A1 /* Accumulator high 32 bits. */
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377 MVTACGU R15, A1 /* Accumulator guard. */
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385 /*-----------------------------------------------------------*/
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387 void vPortEndScheduler( void )
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389 /* Not implemented in ports where there is nothing to return to.
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390 Artificially force an assert. */
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391 configASSERT( pxCurrentTCB == NULL );
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393 /* The following line is just to prevent the symbol getting optimised away. */
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394 ( void ) vTaskSwitchContext();
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396 /*-----------------------------------------------------------*/
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