git.sur5r.net Git - freertos/blob - FreeRTOS/Source/portable/WizC/PIC18/portmacro.h

   1 /*\r
   2     FreeRTOS V8.1.1 - Copyright (C) 2014 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     ***************************************************************************\r
   8      *                                                                       *\r
   9      *    FreeRTOS provides completely free yet professionally developed,    *\r
  10      *    robust, strictly quality controlled, supported, and cross          *\r
  11      *    platform software that has become a de facto standard.             *\r
  12      *                                                                       *\r
  13      *    Help yourself get started quickly and support the FreeRTOS         *\r
  14      *    project by purchasing a FreeRTOS tutorial book, reference          *\r
  15      *    manual, or both from: http://www.FreeRTOS.org/Documentation        *\r
  16      *                                                                       *\r
  17      *    Thank you!                                                         *\r
  18      *                                                                       *\r
  19     ***************************************************************************\r
  20 \r
  21     This file is part of the FreeRTOS distribution.\r
  22 \r
  23     FreeRTOS is free software; you can redistribute it and/or modify it under\r
  24     the terms of the GNU General Public License (version 2) as published by the\r
  25     Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.\r
  26 \r
  27     >>!   NOTE: The modification to the GPL is included to allow you to     !<<\r
  28     >>!   distribute a combined work that includes FreeRTOS without being   !<<\r
  29     >>!   obliged to provide the source code for proprietary components     !<<\r
  30     >>!   outside of the FreeRTOS kernel.                                   !<<\r
  31 \r
  32     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY\r
  33     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS\r
  34     FOR A PARTICULAR PURPOSE.  Full license text is available from the following\r
  35     link: http://www.freertos.org/a00114.html\r
  36 \r
  37     1 tab == 4 spaces!\r
  38 \r
  39     ***************************************************************************\r
  40      *                                                                       *\r
  41      *    Having a problem?  Start by reading the FAQ "My application does   *\r
  42      *    not run, what could be wrong?"                                     *\r
  43      *                                                                       *\r
  44      *    http://www.FreeRTOS.org/FAQHelp.html                               *\r
  45      *                                                                       *\r
  46     ***************************************************************************\r
  47 \r
  48     http://www.FreeRTOS.org - Documentation, books, training, latest versions,\r
  49     license and Real Time Engineers Ltd. contact details.\r
  50 \r
  51     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
  52     including FreeRTOS+Trace - an indispensable productivity tool, a DOS\r
  53     compatible FAT file system, and our tiny thread aware UDP/IP stack.\r
  54 \r
  55     http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High\r
  56     Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS\r
  57     licenses offer ticketed support, indemnification and middleware.\r
  58 \r
  59     http://www.SafeRTOS.com - High Integrity Systems also provide a safety\r
  60     engineered and independently SIL3 certified version for use in safety and\r
  61     mission critical applications that require provable dependability.\r
  62 \r
  63     1 tab == 4 spaces!\r
  64 */\r
  65 \r
  66 /*\r
  67 Changes from V3.0.0\r
  68 \r
  69 Changes from V3.0.1\r
  70 */\r
  71 #ifndef PORTMACRO_H\r
  72 #define PORTMACRO_H\r
  73 \r
  74 #if !defined(_SERIES) || _SERIES != 18\r
  75         #error "WizC supports FreeRTOS on the Microchip PIC18-series only"\r
  76 #endif\r
  77 \r
  78 #if !defined(QUICKCALL) || QUICKCALL != 1\r
  79         #error "QuickCall must be enabled (see ProjectOptions/Optimisations)"\r
  80 #endif\r
  81 \r
  82 #include <stddef.h>\r
  83 #include <pic.h>\r
  84 \r
  85 #define portCHAR                char\r
  86 #define portFLOAT               float\r
  87 #define portDOUBLE              portFLOAT\r
  88 #define portLONG                long\r
  89 #define portSHORT               short\r
  90 #define portSTACK_TYPE  uint8_t\r
  91 #define portBASE_TYPE   char\r
  92 \r
  93 typedef portSTACK_TYPE StackType_t;\r
  94 typedef signed char BaseType_t;\r
  95 typedef unsigned char UBaseType_t;\r
  96 \r
  97 \r
  98 #if( configUSE_16_BIT_TICKS == 1 )\r
  99         typedef uint16_t TickType_t;\r
 100         #define portMAX_DELAY ( TickType_t )    ( 0xFFFF )\r
 101 #else\r
 102         typedef uint32_t TickType_t;\r
 103         #define portMAX_DELAY ( TickType_t )    ( 0xFFFFFFFF )\r
 104 #endif\r
 105 \r
 106 #define portBYTE_ALIGNMENT                      1\r
 107 \r
 108 /*-----------------------------------------------------------*/\r
 109 \r
 110 /*\r
 111  * Constant used for context switch macro when we require the interrupt\r
 112  * enable state to be forced when the interrupted task is switched back in.\r
 113  */\r
 114 #define portINTERRUPTS_FORCED                           (0x01)\r
 115 \r
 116 /*\r
 117  * Constant used for context switch macro when we require the interrupt\r
 118  * enable state to be unchanged when the interrupted task is switched back in.\r
 119  */\r
 120 #define portINTERRUPTS_UNCHANGED                        (0x00)\r
 121 \r
 122 /* Initial interrupt enable state for newly created tasks.  This value is\r
 123  * used when a task switches in for the first time.\r
 124  */\r
 125 #define portINTERRUPTS_INITIAL_STATE            (portINTERRUPTS_FORCED)\r
 126 \r
 127 /*\r
 128  * Macros to modify the global interrupt enable bit in INTCON.\r
 129  */\r
 130 #define portDISABLE_INTERRUPTS()        \\r
 131         do                                                              \\r
 132         {                                                               \\r
 133                 bGIE=0;                                         \\r
 134         } while(bGIE)   // MicroChip recommends this check!\r
 135 \r
 136 #define portENABLE_INTERRUPTS()         \\r
 137         do                                                              \\r
 138         {                                                               \\r
 139                 bGIE=1;                                         \\r
 140         } while(0)\r
 141 \r
 142 /*-----------------------------------------------------------*/\r
 143 \r
 144 /*\r
 145  * Critical section macros.\r
 146  */\r
 147 extern uint8_t ucCriticalNesting;\r
 148 \r
 149 #define portNO_CRITICAL_SECTION_NESTING         ( ( uint8_t ) 0 )\r
 150 \r
 151 #define portENTER_CRITICAL()                                                                            \\r
 152         do                                                                                                                              \\r
 153         {                                                                                                                               \\r
 154                 portDISABLE_INTERRUPTS();                                                                       \\r
 155                                                                                                                                         \\r
 156                 /*                                                                                                                      \\r
 157                  * Now interrupts are disabled ucCriticalNesting                        \\r
 158                  * can be accessed directly. Increment                                          \\r
 159                  * ucCriticalNesting to keep a count of how                                     \\r
 160                  * many times portENTER_CRITICAL() has been called.             \\r
 161                  */                                                                                                                     \\r
 162                 ucCriticalNesting++;                                                                            \\r
 163         } while(0)\r
 164 \r
 165 #define portEXIT_CRITICAL()                                                                                     \\r
 166         do                                                                                                                              \\r
 167         {                                                                                                                               \\r
 168                 if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING)         \\r
 169                 {                                                                                                                       \\r
 170                         /*                                                                                                              \\r
 171                          * Decrement the nesting count as we are leaving a              \\r
 172                          * critical section.                                                                    \\r
 173                          */                                                                                                             \\r
 174                         ucCriticalNesting--;                                                                    \\r
 175                 }                                                                                                                       \\r
 176                                                                                                                                         \\r
 177                 /*                                                                                                                      \\r
 178                  * If the nesting level has reached zero then                           \\r
 179                  * interrupts should be re-enabled.                                                     \\r
 180                  */                                                                                                                     \\r
 181                 if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING )      \\r
 182                 {                                                                                                                       \\r
 183                         portENABLE_INTERRUPTS();                                                                \\r
 184                 }                                                                                                                       \\r
 185         } while(0)\r
 186 \r
 187 /*-----------------------------------------------------------*/\r
 188 \r
 189 /*\r
 190  * The minimal stacksize is calculated on the first reference of\r
 191  * portMINIMAL_STACK_SIZE. Some input to this calculation is\r
 192  * compiletime determined, other input is port-defined (see port.c)\r
 193  */\r
 194 extern uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void );\r
 195 extern uint16_t usCalcMinStackSize;\r
 196 \r
 197 #define portMINIMAL_STACK_SIZE                                  \\r
 198         ((usCalcMinStackSize == 0)                                      \\r
 199                 ? usPortCALCULATE_MINIMAL_STACK_SIZE()  \\r
 200                 : usCalcMinStackSize )\r
 201 \r
 202 /*\r
 203  * WizC uses a downgrowing stack\r
 204  */\r
 205 #define portSTACK_GROWTH                        ( -1 )\r
 206 \r
 207 /*-----------------------------------------------------------*/\r
 208 \r
 209 /*\r
 210  * Macro's that pushes all the registers that make up the context of a task onto\r
 211  * the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU\r
 212  * are only saved/restored on devices with more than 64kB (32k Words) ROM.\r
 213  *\r
 214  * The stackpointer is helt by WizC in FSR2 and points to the first free byte.\r
 215  * WizC uses a "downgrowing" stack. There is no framepointer.\r
 216  *\r
 217  * We keep track of the interruptstatus using ucCriticalNesting. When this\r
 218  * value equals zero, interrupts have to be enabled upon exit from the\r
 219  * portRESTORE_CONTEXT macro.\r
 220  *\r
 221  * If this is called from an ISR then the interrupt enable bits must have been\r
 222  * set for the ISR to ever get called.  Therefore we want to save\r
 223  * ucCriticalNesting with value zero. This means the interrupts will again be\r
 224  * re-enabled when the interrupted task is switched back in.\r
 225  *\r
 226  * If this is called from a manual context switch (i.e. from a call to yield),\r
 227  * then we want to keep the current value of ucCritialNesting so it is restored\r
 228  * with its current value. This allows a yield from within a critical section.\r
 229  *\r
 230  * The compiler uses some locations at the bottom of RAM for temporary\r
 231  * storage. The compiler may also have been instructed to optimize\r
 232  * function-parameters and local variables to global storage. The compiler\r
 233  * uses an area called LocOpt for this wizC feature.\r
 234  * The total overheadstorage has to be saved in it's entirety as part of\r
 235  * a task context. These macro's store/restore from data address 0x0000 to\r
 236  * (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1).\r
 237  * OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated\r
 238  * assembler definitions.\r
 239  */\r
 240 \r
 241 #define portSAVE_CONTEXT( ucInterruptForced )                                           \\r
 242         do                                                                                                                              \\r
 243         {                                                                                                                               \\r
 244                 portDISABLE_INTERRUPTS();                                                                       \\r
 245                                                                                                                                         \\r
 246                 _Pragma("asm")                                                                                          \\r
 247                         ;                                                                                                               \\r
 248                         ; Push the relevant SFR's onto the task's stack                 \\r
 249                         ;                                                                                                               \\r
 250                         movff   STATUS,POSTDEC2                                                                 \\r
 251                         movff   WREG,POSTDEC2                                                                   \\r
 252                         movff   BSR,POSTDEC2                                                                    \\r
 253                         movff   PRODH,POSTDEC2                                                                  \\r
 254                         movff   PRODL,POSTDEC2                                                                  \\r
 255                         movff   FSR0H,POSTDEC2                                                                  \\r
 256                         movff   FSR0L,POSTDEC2                                                                  \\r
 257                         movff   FSR1H,POSTDEC2                                                                  \\r
 258                         movff   FSR1L,POSTDEC2                                                                  \\r
 259                         movff   TABLAT,POSTDEC2                                                                 \\r
 260                         if __ROMSIZE > 0x8000                                                                   \\r
 261                                 movff   TBLPTRU,POSTDEC2                                                        \\r
 262                         endif                                                                                                   \\r
 263                         movff   TBLPTRH,POSTDEC2                                                                \\r
 264                         movff   TBLPTRL,POSTDEC2                                                                \\r
 265                         if __ROMSIZE > 0x8000                                                                   \\r
 266                                 movff   PCLATU,POSTDEC2                                                         \\r
 267                         endif                                                                                                   \\r
 268                         movff   PCLATH,POSTDEC2                                                                 \\r
 269                         ;                                                                                                               \\r
 270                         ; Store the compiler-scratch-area as described above.   \\r
 271                         ;                                                                                                               \\r
 272                         movlw   OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE                  \\r
 273                         clrf    FSR0L,ACCESS                                                                    \\r
 274                         clrf    FSR0H,ACCESS                                                                    \\r
 275                 _rtos_S1:                                                                                                       \\r
 276                         movff   POSTINC0,POSTDEC2                                                               \\r
 277                         decfsz  WREG,W,ACCESS                                                                   \\r
 278                         SMARTJUMP _rtos_S1                                                                              \\r
 279                         ;                                                                                                               \\r
 280                         ; Save the pic call/return-stack belonging to the               \\r
 281                         ; current task by copying it to the task's software-    \\r
 282                         ; stack. We save the hardware stack pointer (which              \\r
 283                         ; is the number of addresses on the stack) in the               \\r
 284                         ; W-register first because we need it later and it              \\r
 285                         ; is modified in the save-loop by executing pop's.              \\r
 286                         ; After the loop the W-register is stored on the                \\r
 287                         ; stack, too.                                                                                   \\r
 288                         ;                                                                                                               \\r
 289                         movf    STKPTR,W,ACCESS                                                                 \\r
 290                         bz              _rtos_s3                                                                                \\r
 291                 _rtos_S2:                                                                                                       \\r
 292                         if __ROMSIZE > 0x8000                                                                   \\r
 293                                 movff   TOSU,POSTDEC2                                                           \\r
 294                         endif                                                                                                   \\r
 295                         movff   TOSH,POSTDEC2                                                                   \\r
 296                         movff   TOSL,POSTDEC2                                                                   \\r
 297                         pop                                                                                                             \\r
 298                         tstfsz  STKPTR,ACCESS                                                                   \\r
 299                         SMARTJUMP _rtos_S2                                                                              \\r
 300                 _rtos_s3:                                                                                                       \\r
 301                         movwf   POSTDEC2,ACCESS                                                                 \\r
 302                         ;                                                                                                               \\r
 303                         ; Next the value for ucCriticalNesting used by the              \\r
 304                         ; task is stored on the stack. When                                             \\r
 305                         ; (ucInterruptForced == portINTERRUPTS_FORCED), we save \\r
 306                         ; it as 0 (portNO_CRITICAL_SECTION_NESTING).                    \\r
 307                         ;                                                                                                               \\r
 308                         if ucInterruptForced == portINTERRUPTS_FORCED                   \\r
 309                                 clrf POSTDEC2,ACCESS                                                            \\r
 310                         else                                                                                                    \\r
 311                                 movff   ucCriticalNesting,POSTDEC2                                      \\r
 312                         endif                                                                                                   \\r
 313                         ;                                                                                                               \\r
 314                         ; Save the new top of the software stack in the TCB.    \\r
 315                         ;                                                                                                               \\r
 316                         movff   pxCurrentTCB,FSR0L                                                              \\r
 317                         movff   pxCurrentTCB+1,FSR0H                                                    \\r
 318                         movff   FSR2L,POSTINC0                                                                  \\r
 319                         movff   FSR2H,POSTINC0                                                                  \\r
 320                 _Pragma("asmend")                                                                                       \\r
 321         } while(0)\r
 322 \r
 323 /************************************************************/\r
 324 \r
 325 /*\r
 326  * This is the reverse of portSAVE_CONTEXT.\r
 327  */\r
 328 #define portRESTORE_CONTEXT()                                                                           \\r
 329         do                                                                                                                              \\r
 330         {                                                                                                                               \\r
 331                 _Pragma("asm")                                                                                          \\r
 332                         ;                                                                                                               \\r
 333                         ; Set FSR0 to point to pxCurrentTCB->pxTopOfStack.              \\r
 334                         ;                                                                                                               \\r
 335                         movff   pxCurrentTCB,FSR0L                                                              \\r
 336                         movff   pxCurrentTCB+1,FSR0H                                                    \\r
 337                         ;                                                                                                               \\r
 338                         ; De-reference FSR0 to set the address it holds into    \\r
 339                         ; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2    \\r
 340                         ; is used by wizC as stackpointer.                                              \\r
 341                         ;                                                                                                               \\r
 342                         movff   POSTINC0,FSR2L                                                                  \\r
 343                         movff   POSTINC0,FSR2H                                                                  \\r
 344                         ;                                                                                                               \\r
 345                         ; Next, the value for ucCriticalNesting used by the             \\r
 346                         ; task is retrieved from the stack.                                             \\r
 347                         ;                                                                                                               \\r
 348                         movff   PREINC2,ucCriticalNesting                                               \\r
 349                         ;                                                                                                               \\r
 350                         ; Rebuild the pic call/return-stack. The number of              \\r
 351                         ; return addresses is the next item on the task stack.  \\r
 352                         ; Save this number in PRODL. Then fetch the addresses   \\r
 353                         ; and store them on the hardwarestack.                                  \\r
 354                         ; The datasheets say we can't use movff here...                 \\r
 355                         ;                                                                                                               \\r
 356                         movff   PREINC2,PRODL   // Use PRODL as tempregister    \\r
 357                         clrf    STKPTR,ACCESS                                                                   \\r
 358                 _rtos_R1:                                                                                                       \\r
 359                         push                                                                                                    \\r
 360                         movf    PREINC2,W,ACCESS                                                                \\r
 361                         movwf   TOSL,ACCESS                                                                             \\r
 362                         movf    PREINC2,W,ACCESS                                                                \\r
 363                         movwf   TOSH,ACCESS                                                                             \\r
 364                         if __ROMSIZE > 0x8000                                                                   \\r
 365                                 movf    PREINC2,W,ACCESS                                                        \\r
 366                                 movwf   TOSU,ACCESS                                                                     \\r
 367                         else                                                                                                    \\r
 368                                 clrf    TOSU,ACCESS                                                                     \\r
 369                         endif                                                                                                   \\r
 370                         decfsz  PRODL,F,ACCESS                                                                  \\r
 371                         SMARTJUMP _rtos_R1                                                                              \\r
 372                         ;                                                                                                               \\r
 373                         ; Restore the compiler's working storage area to page 0 \\r
 374                         ;                                                                                                               \\r
 375                         movlw   OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE                  \\r
 376                         movwf   FSR0L,ACCESS                                                                    \\r
 377                         clrf    FSR0H,ACCESS                                                                    \\r
 378                 _rtos_R2:                                                                                                       \\r
 379                         decf    FSR0L,F,ACCESS                                                                  \\r
 380                         movff   PREINC2,INDF0                                                                   \\r
 381                         tstfsz  FSR0L,ACCESS                                                                    \\r
 382                         SMARTJUMP _rtos_R2                                                                              \\r
 383                         ;                                                                                                               \\r
 384                         ; Restore the sfr's forming the tasks context.                  \\r
 385                         ; We cannot yet restore bsr, w and status because               \\r
 386                         ; we need these registers for a final test.                             \\r
 387                         ;                                                                                                               \\r
 388                         movff   PREINC2,PCLATH                                                                  \\r
 389                         if __ROMSIZE > 0x8000                                                                   \\r
 390                                 movff   PREINC2,PCLATU                                                          \\r
 391                         else                                                                                                    \\r
 392                                 clrf    PCLATU,ACCESS                                                           \\r
 393                         endif                                                                                                   \\r
 394                         movff   PREINC2,TBLPTRL                                                                 \\r
 395                         movff   PREINC2,TBLPTRH                                                                 \\r
 396                         if __ROMSIZE > 0x8000                                                                   \\r
 397                                 movff   PREINC2,TBLPTRU                                                         \\r
 398                         else                                                                                                    \\r
 399                                 clrf    TBLPTRU,ACCESS                                                          \\r
 400                         endif                                                                                                   \\r
 401                         movff   PREINC2,TABLAT                                                                  \\r
 402                         movff   PREINC2,FSR1L                                                                   \\r
 403                         movff   PREINC2,FSR1H                                                                   \\r
 404                         movff   PREINC2,FSR0L                                                                   \\r
 405                         movff   PREINC2,FSR0H                                                                   \\r
 406                         movff   PREINC2,PRODL                                                                   \\r
 407                         movff   PREINC2,PRODH                                                                   \\r
 408                         ;                                                                                                               \\r
 409                         ; The return from portRESTORE_CONTEXT() depends on              \\r
 410                         ; the value of ucCriticalNesting. When it is zero,              \\r
 411                         ; interrupts need to be enabled. This is done via a             \\r
 412                         ; retfie instruction because we need the                                \\r
 413                         ; interrupt-enabling and the return to the restored             \\r
 414                         ; task to be uninterruptable.                                                   \\r
 415                         ; Because bsr, status and W are affected by the test    \\r
 416                         ; they are restored after the test.                                             \\r
 417                         ;                                                                                                               \\r
 418                         movlb   ucCriticalNesting>>8                                                    \\r
 419                         tstfsz  ucCriticalNesting,BANKED                                                \\r
 420                         SMARTJUMP _rtos_R4                                                                              \\r
 421                 _rtos_R3:                                                                                                       \\r
 422                         movff   PREINC2,BSR                                                                             \\r
 423                         movff   PREINC2,WREG                                                                    \\r
 424                         movff   PREINC2,STATUS                                                                  \\r
 425                         retfie  0               ; Return enabling interrupts                    \\r
 426                 _rtos_R4:                                                                                                       \\r
 427                         movff   PREINC2,BSR                                                                             \\r
 428                         movff   PREINC2,WREG                                                                    \\r
 429                         movff   PREINC2,STATUS                                                                  \\r
 430                         return  0               ; Return without affecting interrupts   \\r
 431                 _Pragma("asmend")                                                                                       \\r
 432         } while(0)\r
 433 \r
 434 /*-----------------------------------------------------------*/\r
 435 \r
 436 #define portTICK_PERIOD_MS      ( ( TickType_t ) 1000 / configTICK_RATE_HZ )\r
 437 \r
 438 /*-----------------------------------------------------------*/\r
 439 \r
 440 extern void vPortYield( void );\r
 441 #define portYIELD()                             vPortYield()\r
 442 \r
 443 #define portNOP()       _Pragma("asm")                                                                  \\r
 444                                                 nop                                                                                     \\r
 445                                         _Pragma("asmend")\r
 446 \r
 447 /*-----------------------------------------------------------*/\r
 448 \r
 449 #define portTASK_FUNCTION( xFunction, pvParameters )            \\r
 450         void pointed xFunction( void *pvParameters )            \\r
 451         _Pragma(asmfunc xFunction)\r
 452 \r
 453 #define portTASK_FUNCTION_PROTO         portTASK_FUNCTION\r
 454 /*-----------------------------------------------------------*/\r
 455 \r
 456 \r
 457 #define volatile\r
 458 #define register\r
 459 \r
 460 #endif /* PORTMACRO_H */\r
 461 \r