git.sur5r.net Git - freertos/blob - FreeRTOS/Source/portable/Softune/MB91460/port.c

   1 /*\r
   2     FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.\r
   3     All rights reserved\r
   4 \r
   5     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
   6 \r
   7     This file is part of the FreeRTOS distribution.\r
   8 \r
   9     FreeRTOS is free software; you can redistribute it and/or modify it under\r
  10     the terms of the GNU General Public License (version 2) as published by the\r
  11     Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.\r
  12 \r
  13     ***************************************************************************\r
  14     >>!   NOTE: The modification to the GPL is included to allow you to     !<<\r
  15     >>!   distribute a combined work that includes FreeRTOS without being   !<<\r
  16     >>!   obliged to provide the source code for proprietary components     !<<\r
  17     >>!   outside of the FreeRTOS kernel.                                   !<<\r
  18     ***************************************************************************\r
  19 \r
  20     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
  21     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
  22     FOR A PARTICULAR PURPOSE.  Full license text is available on the following\r
  23     link: http://www.freertos.org/a00114.html\r
  24 \r
  25     ***************************************************************************\r
  26      *                                                                       *\r
  27      *    FreeRTOS provides completely free yet professionally developed,    *\r
  28      *    robust, strictly quality controlled, supported, and cross          *\r
  29      *    platform software that is more than just the market leader, it     *\r
  30      *    is the industry's de facto standard.                               *\r
  31      *                                                                       *\r
  32      *    Help yourself get started quickly while simultaneously helping     *\r
  33      *    to support the FreeRTOS project by purchasing a FreeRTOS           *\r
  34      *    tutorial book, reference manual, or both:                          *\r
  35      *    http://www.FreeRTOS.org/Documentation                              *\r
  36      *                                                                       *\r
  37     ***************************************************************************\r
  38 \r
  39     http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading\r
  40     the FAQ page "My application does not run, what could be wrong?".  Have you\r
  41     defined configASSERT()?\r
  42 \r
  43     http://www.FreeRTOS.org/support - In return for receiving this top quality\r
  44     embedded software for free we request you assist our global community by\r
  45     participating in the support forum.\r
  46 \r
  47     http://www.FreeRTOS.org/training - Investing in training allows your team to\r
  48     be as productive as possible as early as possible.  Now you can receive\r
  49     FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers\r
  50     Ltd, and the world's leading authority on the world's leading RTOS.\r
  51 \r
  52     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
  53     including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
  54     compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
  55 \r
  56     http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.\r
  57     Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.\r
  58 \r
  59     http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High\r
  60     Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS\r
  61     licenses offer ticketed support, indemnification and commercial middleware.\r
  62 \r
  63     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
  64     engineered and independently SIL3 certified version for use in safety and\r
  65     mission critical applications that require provable dependability.\r
  66 \r
  67     1 tab == 4 spaces!\r
  68 */\r
  69 \r
  70 #include "FreeRTOS.h"\r
  71 #include "task.h"\r
  72 #include "mb91467d.h"\r
  73 \r
  74 /*-----------------------------------------------------------*/\r
  75 \r
  76 /* We require the address of the pxCurrentTCB variable, but don't want to know\r
  77 any details of its type. */\r
  78 typedef void TCB_t;\r
  79 extern volatile TCB_t * volatile pxCurrentTCB;\r
  80 \r
  81 /*-----------------------------------------------------------*/\r
  82  \r
  83 #pragma asm\r
  84 #macro  SaveContext\r
  85          ORCCR #0x20                                                            ;Switch to user stack\r
  86          ST RP,@-R15                                                            ;Store RP\r
  87          STM0 (R7,R6,R5,R4,R3,R2,R1,R0)                         ;Store R7-R0\r
  88          STM1 (R14,R13,R12,R11,R10,R9,R8)                       ;Store R14-R8\r
  89          ST MDH, @-R15                                                          ;Store MDH\r
  90          ST MDL, @-R15                                                          ;Store MDL\r
  91          \r
  92          ANDCCR #0xDF                                                           ;Switch back to system stack\r
  93          LD @R15+,R0                                                            ;Store PC to R0 \r
  94          ORCCR #0x20                                                            ;Switch to user stack\r
  95          ST R0,@-R15                                                            ;Store PC to User stack\r
  96          \r
  97          ANDCCR #0xDF                                                           ;Switch back to system stack\r
  98          LD @R15+,R0                                                            ;Store PS to R0\r
  99          ORCCR #0x20                                                            ;Switch to user stack\r
 100          ST R0,@-R15                                                            ;Store PS to User stack\r
 101          \r
 102          LDI #_pxCurrentTCB, R0                                         ;Get pxCurrentTCB address\r
 103          LD @R0, R0                                                                     ;Get the pxCurrentTCB->pxTopOfStack address\r
 104          ST R15,@R0                                                                     ;Store USP to pxCurrentTCB->pxTopOfStack\r
 105          \r
 106          ANDCCR #0xDF                                                           ;Switch back to system stack for the rest of tick ISR\r
 107 #endm\r
 108 \r
 109 #macro RestoreContext\r
 110          LDI #_pxCurrentTCB, R0                                         ;Get pxCurrentTCB address\r
 111          LD @R0, R0                                                                     ;Get the pxCurrentTCB->pxTopOfStack address\r
 112          ORCCR #0x20                                                            ;Switch to user stack\r
 113          LD @R0, R15                                                            ;Restore USP from pxCurrentTCB->pxTopOfStack\r
 114 \r
 115          LD @R15+,R0                                                            ;Store PS to R0\r
 116          ANDCCR #0xDF                                                           ;Switch to system stack\r
 117          ST R0,@-R15                                                            ;Store PS to system stack\r
 118 \r
 119          ORCCR #0x20                                                            ;Switch to user stack\r
 120          LD @R15+,R0                                                            ;Store PC to R0\r
 121          ANDCCR #0xDF                                                           ;Switch to system stack\r
 122          ST R0,@-R15                                                            ;Store PC to system stack\r
 123 \r
 124          ORCCR #0x20                                                            ;Switch back to retrieve the remaining context\r
 125 \r
 126          LD @R15+, MDL                                                          ;Restore MDL\r
 127          LD @R15+, MDH                                                          ;Restore MDH\r
 128          LDM1 (R14,R13,R12,R11,R10,R9,R8)                       ;Restore R14-R8\r
 129          LDM0 (R7,R6,R5,R4,R3,R2,R1,R0)                         ;Restore R7-R0\r
 130          LD @R15+, RP                                                           ;Restore RP\r
 131          \r
 132          ANDCCR #0xDF                                                           ;Switch back to system stack for the rest of tick ISR\r
 133 #endm\r
 134 #pragma endasm\r
 135 \r
 136 /*-----------------------------------------------------------*/\r
 137 \r
 138 /*\r
 139  * Perform hardware setup to enable ticks from timer 1,\r
 140  */\r
 141 static void prvSetupTimerInterrupt( void );\r
 142 /*-----------------------------------------------------------*/\r
 143 \r
 144 /* \r
 145  * Initialise the stack of a task to look exactly as if a call to \r
 146  * portSAVE_CONTEXT had been called.\r
 147  * \r
 148  * See the header file portable.h.\r
 149  */\r
 150 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )\r
 151 {\r
 152         /* Place a few bytes of known values on the bottom of the stack. \r
 153         This is just useful for debugging. */\r
 154 \r
 155         *pxTopOfStack = 0x11111111;\r
 156         pxTopOfStack--;\r
 157         *pxTopOfStack = 0x22222222;\r
 158         pxTopOfStack--;\r
 159         *pxTopOfStack = 0x33333333;\r
 160         pxTopOfStack--;\r
 161 \r
 162         /* This is a redundant push to the stack, it may be required if \r
 163         in some implementations of the compiler the parameter to the task \r
 164         is passed on to the stack rather than in R4 register. */\r
 165         *pxTopOfStack = (StackType_t)(pvParameters);\r
 166         pxTopOfStack--;                  \r
 167     \r
 168         *pxTopOfStack = ( StackType_t ) 0x00000000;     /* RP */\r
 169         pxTopOfStack--;\r
 170         *pxTopOfStack = ( StackType_t ) 0x00007777;     /* R7 */\r
 171         pxTopOfStack--;\r
 172         *pxTopOfStack = ( StackType_t ) 0x00006666;     /* R6 */\r
 173         pxTopOfStack--;\r
 174         *pxTopOfStack = ( StackType_t ) 0x00005555;     /* R5 */\r
 175         pxTopOfStack--;\r
 176         \r
 177         /* In the current implementation of the compiler the first \r
 178         parameter to the task (or function) is passed via R4 parameter \r
 179         to the task, hence the pvParameters pointer is copied into the R4 \r
 180         register. See compiler manual section 4.6.2 for more information. */\r
 181         *pxTopOfStack = ( StackType_t ) (pvParameters); /* R4 */\r
 182         pxTopOfStack--;\r
 183         *pxTopOfStack = ( StackType_t ) 0x00003333;     /* R3 */\r
 184         pxTopOfStack--;\r
 185         *pxTopOfStack = ( StackType_t ) 0x00002222;     /* R2 */\r
 186         pxTopOfStack--;\r
 187         *pxTopOfStack = ( StackType_t ) 0x00001111;     /* R1 */\r
 188         pxTopOfStack--;\r
 189         *pxTopOfStack = ( StackType_t ) 0x00000001;     /* R0 */\r
 190         pxTopOfStack--; \r
 191         *pxTopOfStack = ( StackType_t ) 0x0000EEEE;     /* R14 */\r
 192         pxTopOfStack--;\r
 193         *pxTopOfStack = ( StackType_t ) 0x0000DDDD;     /* R13 */\r
 194         pxTopOfStack--;\r
 195         *pxTopOfStack = ( StackType_t ) 0x0000CCCC;     /* R12 */\r
 196         pxTopOfStack--;\r
 197         *pxTopOfStack = ( StackType_t ) 0x0000BBBB;     /* R11 */\r
 198         pxTopOfStack--;\r
 199         *pxTopOfStack = ( StackType_t ) 0x0000AAAA;     /* R10 */\r
 200         pxTopOfStack--;\r
 201         *pxTopOfStack = ( StackType_t ) 0x00009999;     /* R9 */\r
 202         pxTopOfStack--;\r
 203         *pxTopOfStack = ( StackType_t ) 0x00008888;     /* R8 */\r
 204         pxTopOfStack--; \r
 205         *pxTopOfStack = ( StackType_t ) 0x11110000;     /* MDH */\r
 206         pxTopOfStack--;\r
 207         *pxTopOfStack = ( StackType_t ) 0x22220000;     /* MDL */\r
 208         pxTopOfStack--;\r
 209 \r
 210         /* The start of the task code. */\r
 211         *pxTopOfStack = ( StackType_t ) pxCode; /* PC */\r
 212         pxTopOfStack--;\r
 213          \r
 214     /* PS - User Mode, USP, ILM=31, Interrupts enabled */\r
 215         *pxTopOfStack = ( StackType_t ) 0x001F0030;     /* PS */\r
 216 \r
 217         return pxTopOfStack;\r
 218 }\r
 219 /*-----------------------------------------------------------*/\r
 220 \r
 221 BaseType_t xPortStartScheduler( void )\r
 222 {\r
 223         /* Setup the hardware to generate the tick. */\r
 224         prvSetupTimerInterrupt();\r
 225 \r
 226         /* Restore the context of the first task that is going to run. */\r
 227         #pragma asm\r
 228                 RestoreContext\r
 229         #pragma endasm\r
 230 \r
 231         /* Simulate a function call end as generated by the compiler.  We will now\r
 232         jump to the start of the task the context of which we have just restored. */    \r
 233         __asm(" reti ");\r
 234 \r
 235         /* Should not get here. */\r
 236         return pdFAIL;\r
 237 }\r
 238 /*-----------------------------------------------------------*/\r
 239 \r
 240 void vPortEndScheduler( void )\r
 241 {\r
 242         /* Not implemented - unlikely to ever be required as there is nothing to\r
 243         return to. */\r
 244 }\r
 245 /*-----------------------------------------------------------*/\r
 246 \r
 247 static void prvSetupTimerInterrupt( void )\r
 248 {\r
 249 /* The peripheral clock divided by 32 is used by the timer. */\r
 250 const uint16_t usReloadValue = ( uint16_t ) ( ( ( configPER_CLOCK_HZ / configTICK_RATE_HZ ) / 32UL ) - 1UL );\r
 251 \r
 252         /* Setup RLT0 to generate a tick interrupt. */\r
 253 \r
 254         TMCSR0_CNTE = 0;                /* Count Disable */\r
 255     TMCSR0_CSL = 0x2;           /* CLKP/32 */\r
 256     TMCSR0_MOD = 0;                     /* Software trigger */\r
 257     TMCSR0_RELD = 1;            /* Reload */\r
 258     \r
 259     TMCSR0_UF = 0;                      /* Clear underflow flag */\r
 260         TMRLR0 = usReloadValue;\r
 261         TMCSR0_INTE = 1;                /* Interrupt Enable */\r
 262         TMCSR0_CNTE = 1;                /* Count Enable */\r
 263         TMCSR0_TRG = 1;                 /* Trigger */\r
 264         \r
 265     PORTEN = 0x3;                       /* Port Enable */\r
 266 }\r
 267 /*-----------------------------------------------------------*/\r
 268 \r
 269 #if configUSE_PREEMPTION == 1\r
 270 \r
 271         /* \r
 272          * Tick ISR for preemptive scheduler. The tick count is incremented \r
 273          * after the context is saved. Then the context is switched if required,\r
 274          * and last the context of the task which is to be resumed is restored.\r
 275          */\r
 276 \r
 277         #pragma asm\r
 278 \r
 279         .global _ReloadTimer0_IRQHandler\r
 280         _ReloadTimer0_IRQHandler:\r
 281 \r
 282         ANDCCR #0xEF                                                    ;Disable Interrupts\r
 283         SaveContext                                                             ;Save context\r
 284         ORCCR #0x10                                                             ;Re-enable Interrupts\r
 285 \r
 286         LDI #0xFFFB,R1\r
 287         LDI #_tmcsr0, R0\r
 288         AND R1,@R0                                                              ;Clear RLT0 interrupt flag\r
 289 \r
 290         CALL32   _xTaskIncrementTick,R12                ;Increment Tick\r
 291         CALL32   _vTaskSwitchContext,R12                ;Switch context if required\r
 292 \r
 293         ANDCCR #0xEF                                                    ;Disable Interrupts\r
 294         RestoreContext                                                  ;Restore context\r
 295         ORCCR #0x10                                                             ;Re-enable Interrupts\r
 296 \r
 297         RETI\r
 298 \r
 299         #pragma endasm\r
 300         \r
 301 #else\r
 302         \r
 303         /* \r
 304          * Tick ISR for the cooperative scheduler.  All this does is increment the\r
 305          * tick count.  We don't need to switch context, this can only be done by\r
 306          * manual calls to taskYIELD();\r
 307          */\r
 308         __interrupt void ReloadTimer0_IRQHandler( void )\r
 309         {\r
 310                 /* Clear RLT0 interrupt flag */\r
 311                 TMCSR0_UF = 0; \r
 312                 xTaskIncrementTick();\r
 313         }\r
 314 \r
 315 #endif\r
 316 \r
 317 /*\r
 318  * Manual context switch. We can use a __nosavereg attribute  as the context \r
 319  * would be saved by PortSAVE_CONTEXT().  The context is switched and then \r
 320  * the context of the new task is restored saved. \r
 321  */\r
 322 #pragma asm\r
 323 \r
 324         .global _vPortYieldDelayed\r
 325         _vPortYieldDelayed:\r
 326 \r
 327         ANDCCR #0xEF                                                    ;Disable Interrupts\r
 328         SaveContext                                                             ;Save context\r
 329         ORCCR #0x10                                                             ;Re-enable Interrupts\r
 330 \r
 331         LDI #_dicr, R0\r
 332         BANDL #0x0E, @R0                                                ;Clear Delayed interrupt flag\r
 333 \r
 334         CALL32   _vTaskSwitchContext,R12                ;Switch context if required\r
 335 \r
 336         ANDCCR #0xEF                                                    ;Disable Interrupts\r
 337         RestoreContext                                                  ;Restore context\r
 338         ORCCR #0x10                                                             ;Re-enable Interrupts\r
 339 \r
 340         RETI\r
 341 \r
 342 #pragma endasm\r
 343 /*-----------------------------------------------------------*/\r
 344 \r
 345 /*\r
 346  * Manual context switch. We can use a __nosavereg attribute  as the context \r
 347  * would be saved by PortSAVE_CONTEXT().  The context is switched and then \r
 348  * the context of the new task is restored saved. \r
 349  */      \r
 350 #pragma asm\r
 351 \r
 352         .global _vPortYield\r
 353         _vPortYield:\r
 354 \r
 355         SaveContext                                                             ;Save context\r
 356         CALL32   _vTaskSwitchContext,R12                ;Switch context if required\r
 357         RestoreContext                                                  ;Restore context\r
 358         \r
 359         RETI\r
 360 \r
 361 #pragma endasm\r
 362 /*-----------------------------------------------------------*/\r
 363 \r