;/* ; FreeRTOS V8.2.1 - Copyright (C) 2015 Real Time Engineers Ltd. ; All rights reserved ; ; ; *************************************************************************** ; * * ; * FreeRTOS tutorial books are available in pdf and paperback. * ; * Complete, revised, and edited pdf reference manuals are also * ; * available. * ; * * ; * Purchasing FreeRTOS documentation will not only help you, by * ; * ensuring you get running as quickly as possible and with an * ; * in-depth knowledge of how to use FreeRTOS, it will also help * ; * the FreeRTOS project to continue with its mission of providing * ; * professional grade, cross platform, de facto standard solutions * ; * for microcontrollers - completely free of charge! * ; * * ; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * ; * * ; * Thank you for using FreeRTOS, and thank you for your support! * ; * * ; *************************************************************************** ; ; ; This file is part of the FreeRTOS distribution. ; ; FreeRTOS is free software; you can redistribute it and/or modify it under ; the terms of the GNU General Public License (version 2) as published by the ; Free Software Foundation AND MODIFIED BY the FreeRTOS exception. ; >>>NOTE<<< The modification to the GPL is included to allow you to ; distribute a combined work that includes FreeRTOS without being obliged to ; provide the source code for proprietary components outside of the FreeRTOS ; kernel. FreeRTOS is distributed in the hope that it will be useful, but ; WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY ; or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for ; more details. You should have received a copy of the GNU General Public ; License and the FreeRTOS license exception along with FreeRTOS; if not it ; can be viewed here: http://www.freertos.org/a00114.html and also obtained ; by writing to Richard Barry, contact details for whom are available on the ; FreeRTOS WEB site. ; ; 1 tab == 4 spaces! ; ; http://www.FreeRTOS.org - Documentation, latest information, license and ; contact details. ; ; http://www.SafeRTOS.com - A version that is certified for use in safety ; critical systems. ; ; http://www.OpenRTOS.com - Commercial support, development, porting, ; licensing and training services. ;*/ ; Note: Select the correct include files for the device used by the application. #include "FreeRTOSConfig.h" ;------------------------------------------------------------------------------ ; Functions used by scheduler ;------------------------------------------------------------------------------ EXTERN vTaskSwitchContext EXTERN xTaskIncrementTick ; Variables used by scheduler ;------------------------------------------------------------------------------ EXTERN pxCurrentTCB EXTERN usCriticalNesting ; Functions implemented in this file ;------------------------------------------------------------------------------ PUBLIC vPortYield PUBLIC vPortStart ; Security ID definition ;------------------------------------------------------------------------------ #define CG_SECURITY0 0FFH #define CG_SECURITY1 0FFH #define CG_SECURITY2 0FFH #define CG_SECURITY3 0FFH #define CG_SECURITY4 0FFH #define CG_SECURITY5 0FFH #define CG_SECURITY6 0FFH #define CG_SECURITY7 0FFH #define CG_SECURITY8 0FFH #define CG_SECURITY9 0FFH ; Tick ISR Prototype ;------------------------------------------------------------------------------ PUBWEAK `??MD_INTTM0EQ0??INTVEC 640` PUBLIC MD_INTTM0EQ0 MD_INTTM0EQ0 SYMBOL "MD_INTTM0EQ0" `??MD_INTTM0EQ0??INTVEC 640` SYMBOL "??INTVEC 640", MD_INTTM0EQ0 ;------------------------------------------------------------------------------ ; portSAVE_CONTEXT MACRO ; Saves the context of the remaining general purpose registers ; and the usCriticalNesting Value of the active Task onto the task stack ; saves stack pointer to the TCB ;------------------------------------------------------------------------------ portSAVE_CONTEXT MACRO #if configDATA_MODE == 1 ; Using the Tiny data model prepare {r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30},76,sp ; save general purpose registers sst.w r19,72[ep] sst.w r18,68[ep] sst.w r17,64[ep] sst.w r16,60[ep] sst.w r15,56[ep] sst.w r14,52[ep] sst.w r13,48[ep] sst.w r12,44[ep] sst.w r11,40[ep] sst.w r10,36[ep] sst.w r9,32[ep] sst.w r8,28[ep] sst.w r7,24[ep] sst.w r6,20[ep] sst.w r5,16[ep] sst.w r4,12[ep] #else ; Using the Small/Large data model prepare {r20,r21,r22,r23,r24,r26,r27,r28,r29,r30},72,sp ; save general purpose registers sst.w r19,68[ep] sst.w r18,64[ep] sst.w r17,60[ep] sst.w r16,56[ep] sst.w r15,52[ep] sst.w r14,48[ep] sst.w r13,44[ep] sst.w r12,40[ep] sst.w r11,36[ep] sst.w r10,32[ep] sst.w r9,28[ep] sst.w r8,24[ep] sst.w r7,20[ep] sst.w r6,16[ep] sst.w r5,12[ep] #endif /* configDATA_MODE */ sst.w r2,8[ep] sst.w r1,4[ep] MOVHI hi1(usCriticalNesting),r0,r1 ; save usCriticalNesting value to stack ld.w lw1(usCriticalNesting)[r1],r2 sst.w r2,0[ep] MOVHI hi1(pxCurrentTCB),r0,r1 ; save SP to top of current TCB ld.w lw1(pxCurrentTCB)[r1],r2 st.w sp,0[r2] ENDM ;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------ ; portRESTORE_CONTEXT MACRO ; Gets stack pointer from the current TCB ; Restores the context of the usCriticalNesting value and general purpose ; registers of the selected task from the task stack ;------------------------------------------------------------------------------ portRESTORE_CONTEXT MACRO MOVHI hi1(pxCurrentTCB),r0,r1 ; get Stackpointer address ld.w lw1(pxCurrentTCB)[r1],sp MOV sp,r1 ld.w 0[r1],sp ; load stackpointer MOV sp,ep ; set stack pointer to element pointer sld.w 0[ep],r1 ; load usCriticalNesting value from stack MOVHI hi1(usCriticalNesting),r0,r2 st.w r1,lw1(usCriticalNesting)[r2] sld.w 4[ep],r1 ; restore general purpose registers sld.w 8[ep],r2 #if configDATA_MODE == 1 ; Using Tiny data model sld.w 12[ep],r4 sld.w 16[ep],r5 sld.w 20[ep],r6 sld.w 24[ep],r7 sld.w 28[ep],r8 sld.w 32[ep],r9 sld.w 36[ep],r10 sld.w 40[ep],r11 sld.w 44[ep],r12 sld.w 48[ep],r13 sld.w 52[ep],r14 sld.w 56[ep],r15 sld.w 60[ep],r16 sld.w 64[ep],r17 sld.w 68[ep],r18 sld.w 72[ep],r19 dispose 76,{r20,r21,r22,r23,r24,r25,r26,r27,r28,r29,r30} #else ; Using Small/Large data model sld.w 12[ep],r5 sld.w 16[ep],r6 sld.w 20[ep],r7 sld.w 24[ep],r8 sld.w 28[ep],r9 sld.w 32[ep],r10 sld.w 36[ep],r11 sld.w 40[ep],r12 sld.w 44[ep],r13 sld.w 48[ep],r14 sld.w 52[ep],r15 sld.w 56[ep],r16 sld.w 60[ep],r17 sld.w 64[ep],r18 sld.w 68[ep],r19 dispose 72,{r20,r21,r22,r23,r24,r26,r27,r28,r29,r30} #endif /* configDATA_MODE */ ENDM ;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------ ; Restore the context of the first task that is going to run. ; ; Input: NONE ; ; Call: CALL vPortStart ; ; Output: NONE ;------------------------------------------------------------------------------ RSEG CODE:CODE vPortStart: portRESTORE_CONTEXT ; Restore the context of whichever task the ... ld.w 0[sp],lp ldsr lp,5 ; restore PSW DI ld.w 4[sp],lp ; restore LP ld.w 8[sp],lp ; restore LP ADD 0x0C,sp ; set SP to right position EI jmp [lp] ;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------ ; Port Yield function to check for a Task switch in the cooperative and ; preemptive mode ; ; Input: NONE ; ; Call: CALL vPortYield ; ; Output: NONE ;------------------------------------------------------------------------------ RSEG CODE:CODE vPortYield: add -0x0C,sp ; prepare stack to save necessary values st.w lp,8[sp] ; store LP to stack stsr 0,r31 st.w lp,4[sp] ; store EIPC to stack stsr 1,lp st.w lp,0[sp] ; store EIPSW to stack portSAVE_CONTEXT ; Save the context of the current task. jarl vTaskSwitchContext,lp ; Call the scheduler. portRESTORE_CONTEXT ; Restore the context of whichever task the ... ; ... scheduler decided should run. ld.w 0[sp],lp ; restore EIPSW from stack ldsr lp,1 ld.w 4[sp],lp ; restore EIPC from stack ldsr lp,0 ld.w 8[sp],lp ; restore LP from stack add 0x0C,sp ; set SP to right position RETI ;------------------------------------------------------------------------------ ;------------------------------------------------------------------------------ ; Perform the necessary steps of the Tick Count Increment and Task Switch ; depending on the chosen kernel configuration ; ; Input: NONE ; ; Call: ISR ; ; Output: NONE ;------------------------------------------------------------------------------ #if configUSE_PREEMPTION == 1 ; use preemptive kernel mode MD_INTTM0EQ0: add -0x0C,sp ; prepare stack to save necessary values st.w lp,8[sp] ; store LP to stack stsr 0,r31 st.w lp,4[sp] ; store EIPC to stack stsr 1,lp st.w lp,0[sp] ; store EIPSW to stack portSAVE_CONTEXT ; Save the context of the current task. jarl xTaskIncrementTick,lp ; Call the timer tick function. jarl vTaskSwitchContext,lp ; Call the scheduler. portRESTORE_CONTEXT ; Restore the context of whichever task the ... ; ... scheduler decided should run. ld.w 0[sp],lp ; restore EIPSW from stack ldsr lp,1 ld.w 4[sp],lp ; restore EIPC from stack ldsr lp,0 ld.w 8[sp],lp ; restore LP from stack add 0x0C,sp ; set SP to right position RETI ;------------------------------------------------------------------------------ #else ; use cooperative kernel mode MD_INTTM0EQ0: prepare {lp,ep},8,sp sst.w r1,4[ep] sst.w r5,0[ep] jarl xTaskIncrementTick,lp ; Call the timer tick function. sld.w 0[ep],r5 sld.w 4[ep],r1 dispose 8,{lp,ep} RETI #endif /* configUSE_PREEMPTION */ ;------------------------------------------------------------------------------ COMMON INTVEC:CODE:ROOT(2) ORG 640 `??MD_INTTM0EQ0??INTVEC 640`: JR MD_INTTM0EQ0 RSEG NEAR_ID:CONST:SORT:NOROOT(2) `?`: DW 10 COMMON INTVEC:CODE:ROOT(2) ORG 40H `??vPortYield??INTVEC 40`: JR vPortYield ;------------------------------------------------------------------------------ ; set microcontroller security ID COMMON INTVEC:CODE:ROOT(2) ORG 70H `SECUID`: DB CG_SECURITY0 DB CG_SECURITY1 DB CG_SECURITY2 DB CG_SECURITY3 DB CG_SECURITY4 DB CG_SECURITY5 DB CG_SECURITY6 DB CG_SECURITY7 DB CG_SECURITY8 DB CG_SECURITY9 END