FreeRTOSV7.2.0/FreeRTOS/Source/portable/IAR/78K0R/port.c - nest-connect/1.0/freertos - Git at Google

 /*
     FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.


     ***************************************************************************
      *                                                                       *
      *    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!

     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
      *    not run, what could be wrong?                                      *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************


     http://www.FreeRTOS.org - Documentation, training, latest information,
     license and contact details.

     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
     including FreeRTOS+Trace - an indispensable productivity tool.

     Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
     the code with commercial support, indemnification, and middleware, under
     the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
     provide a safety engineered and independently SIL3 certified version under
     the SafeRTOS brand: http://www.SafeRTOS.com.
 */

 /* Standard includes. */
 #include <stdlib.h>

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"

 /* The critical nesting value is initialised to a non zero value to ensure
 interrupts don't accidentally become enabled before the scheduler is started. */
 #define portINITIAL_CRITICAL_NESTING  (( unsigned short ) 10)

 /* Initial PSW value allocated to a newly created task.
  *   1100011000000000
  *   ||||||||-------------- Fill byte
  *   |||||||--------------- Carry Flag cleared
  *   |||||----------------- In-service priority Flags set to low level
  *   ||||------------------ Register bank Select 0 Flag cleared
  *   |||------------------- Auxiliary Carry Flag cleared
  *   ||-------------------- Register bank Select 1 Flag cleared
  *   |--------------------- Zero Flag set
  *   ---------------------- Global Interrupt Flag set (enabled)
  */
 #define portPSW		  (0xc6UL)

 /* We require the address of the pxCurrentTCB variable, but don't want to know
 any details of its type. */
 typedef void tskTCB;
 extern volatile tskTCB * volatile pxCurrentTCB;

 /* Most ports implement critical sections by placing the interrupt flags on
 the stack before disabling interrupts.  Exiting the critical section is then
 simply a case of popping the flags from the stack.  As 78K0 IAR does not use
 a frame pointer this cannot be done as modifying the stack will clobber all
 the stack variables.  Instead each task maintains a count of the critical
 section nesting depth.  Each time a critical section is entered the count is
 incremented.  Each time a critical section is left the count is decremented -
 with interrupts only being re-enabled if the count is zero.

 usCriticalNesting will get set to zero when the scheduler starts, but must
 not be initialised to zero as this will cause problems during the startup
 sequence. */
 volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING;
 /*-----------------------------------------------------------*/

 /*
  * Sets up the periodic ISR used for the RTOS tick.
  */
 static void prvSetupTimerInterrupt( void );
 /*-----------------------------------------------------------*/

 /*
  * Initialise the stack of a task to look exactly as if a call to
  * portSAVE_CONTEXT had been called.
  *
  * See the header file portable.h.
  */
 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
 {
 unsigned long *pulLocal;

 	#if configMEMORY_MODE == 1
 	{
 		/* Parameters are passed in on the stack, and written using a 32bit value
 		hence a space is left for the second two bytes. */
 		pxTopOfStack--;

 		/* Write in the parameter value. */
 		pulLocal =  ( unsigned long * ) pxTopOfStack;
 		*pulLocal = ( unsigned long ) pvParameters;
 		pxTopOfStack--;

 		/* These values are just spacers.  The return address of the function
 		would normally be written here. */
 		*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
 		pxTopOfStack--;
 		*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
 		pxTopOfStack--;

 		/* The start address / PSW value is also written in as a 32bit value,
 		so leave a space for the second two bytes. */
 		pxTopOfStack--;

 		/* Task function start address combined with the PSW. */
 		pulLocal = ( unsigned long * ) pxTopOfStack;
 		*pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );
 		pxTopOfStack--;

 		/* An initial value for the AX register. */
 		*pxTopOfStack = ( portSTACK_TYPE ) 0x1111;
 		pxTopOfStack--;
 	}
 	#else
 	{
 		/* Task function address is written to the stack first.  As it is
 		written as a 32bit value a space is left on the stack for the second
 		two bytes. */
 		pxTopOfStack--;

 		/* Task function start address combined with the PSW. */
 		pulLocal = ( unsigned long * ) pxTopOfStack;
 		*pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );
 		pxTopOfStack--;

 		/* The parameter is passed in AX. */
 		*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
 		pxTopOfStack--;
 	}
 	#endif

 	/* An initial value for the HL register. */
 	*pxTopOfStack = ( portSTACK_TYPE ) 0x2222;
 	pxTopOfStack--;

 	/* CS and ES registers. */
 	*pxTopOfStack = ( portSTACK_TYPE ) 0x0F00;
 	pxTopOfStack--;

 	/* Finally the remaining general purpose registers DE and BC */
 	*pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE;
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC;
 	pxTopOfStack--;

 	/* Finally the critical section nesting count is set to zero when the task
 	first starts. */
 	*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING;

 	/* Return a pointer to the top of the stack we have generated so this can
 	be stored in the task control block for the task. */
 	return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/

 portBASE_TYPE xPortStartScheduler( void )
 {
 	/* Setup the hardware to generate the tick.  Interrupts are disabled when
 	this function is called. */
 	prvSetupTimerInterrupt();

 	/* Restore the context of the first task that is going to run. */
 	vPortStart();

 	/* Should not get here as the tasks are now running! */
 	return pdTRUE;
 }
 /*-----------------------------------------------------------*/

 void vPortEndScheduler( void )
 {
 	/* It is unlikely that the 78K0R port will get stopped.  If required simply
 	disable the tick interrupt here. */
 }
 /*-----------------------------------------------------------*/

 static void prvSetupTimerInterrupt( void )
 {
 	/* Setup channel 5 of the TAU to generate the tick interrupt. */

 	/* First the Timer Array Unit has to be enabled. */
 	TAU0EN = 1;

 	/* To configure the Timer Array Unit all Channels have to first be stopped. */
 	TT0 = 0xff;

 	/* Interrupt of Timer Array Unit Channel 5 is disabled to set the interrupt
 	priority. */
 	TMMK05 = 1;

 	/* Clear Timer Array Unit Channel 5 interrupt flag. */
 	TMIF05 = 0;

 	/* Set Timer Array Unit Channel 5 interrupt priority */
 	TMPR005 = 0;
 	TMPR105 = 0;

 	/* Set Timer Array Unit Channel 5 Mode as interval timer. */
 	TMR05 = 0x0000;

 	/* Set the compare match value according to the tick rate we want. */
 	TDR05 = ( portTickType ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );

 	/* Set Timer Array Unit Channel 5 output mode */
 	TOM0 &= ~0x0020;

 	/* Set Timer Array Unit Channel 5 output level */
 	TOL0 &= ~0x0020;

 	/* Set Timer Array Unit Channel 5 output enable */
 	TOE0 &= ~0x0020;

 	/* Interrupt of Timer Array Unit Channel 5 enabled */
 	TMMK05 = 0;

 	/* Start Timer Array Unit Channel 5.*/
 	TS0 |= 0x0020;
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.


	***************************************************************************
	* *
	* 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!

	***************************************************************************
	* *
	* Having a problem? Start by reading the FAQ "My application does *
	* not run, what could be wrong? *
	* *
	* http://www.FreeRTOS.org/FAQHelp.html *
	* *
	***************************************************************************


	http://www.FreeRTOS.org - Documentation, training, latest information,
	license and contact details.

	http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
	including FreeRTOS+Trace - an indispensable productivity tool.

	Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
	the code with commercial support, indemnification, and middleware, under
	the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
	provide a safety engineered and independently SIL3 certified version under
	the SafeRTOS brand: http://www.SafeRTOS.com.
	*/

	/* Standard includes. */
	#include <stdlib.h>

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"

	/* The critical nesting value is initialised to a non zero value to ensure
	interrupts don't accidentally become enabled before the scheduler is started. */
	#define portINITIAL_CRITICAL_NESTING (( unsigned short ) 10)

	/* Initial PSW value allocated to a newly created task.
	* 1100011000000000
	* \|\|\|\|\|\|\|\|-------------- Fill byte
	* \|\|\|\|\|\|\|--------------- Carry Flag cleared
	* \|\|\|\|\|----------------- In-service priority Flags set to low level
	* \|\|\|\|------------------ Register bank Select 0 Flag cleared
	* \|\|\|------------------- Auxiliary Carry Flag cleared
	* \|\|-------------------- Register bank Select 1 Flag cleared
	* \|--------------------- Zero Flag set
	* ---------------------- Global Interrupt Flag set (enabled)
	*/
	#define portPSW (0xc6UL)

	/* We require the address of the pxCurrentTCB variable, but don't want to know
	any details of its type. */
	typedef void tskTCB;
	extern volatile tskTCB * volatile pxCurrentTCB;

	/* Most ports implement critical sections by placing the interrupt flags on
	the stack before disabling interrupts. Exiting the critical section is then
	simply a case of popping the flags from the stack. As 78K0 IAR does not use
	a frame pointer this cannot be done as modifying the stack will clobber all
	the stack variables. Instead each task maintains a count of the critical
	section nesting depth. Each time a critical section is entered the count is
	incremented. Each time a critical section is left the count is decremented -
	with interrupts only being re-enabled if the count is zero.

	usCriticalNesting will get set to zero when the scheduler starts, but must
	not be initialised to zero as this will cause problems during the startup
	sequence. */
	volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING;
	/-----------------------------------------------------------/

	/*
	* Sets up the periodic ISR used for the RTOS tick.
	*/
	static void prvSetupTimerInterrupt( void );
	/-----------------------------------------------------------/

	/*
	* Initialise the stack of a task to look exactly as if a call to
	* portSAVE_CONTEXT had been called.
	*
	* See the header file portable.h.
	*/
	portSTACK_TYPE pxPortInitialiseStack( portSTACK_TYPE pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
	{
	unsigned long *pulLocal;

	#if configMEMORY_MODE == 1
	{
	/* Parameters are passed in on the stack, and written using a 32bit value
	hence a space is left for the second two bytes. */
	pxTopOfStack--;

	/* Write in the parameter value. */
	pulLocal = ( unsigned long * ) pxTopOfStack;
	*pulLocal = ( unsigned long ) pvParameters;
	pxTopOfStack--;

	/* These values are just spacers. The return address of the function
	would normally be written here. */
	*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
	pxTopOfStack--;

	/* The start address / PSW value is also written in as a 32bit value,
	so leave a space for the second two bytes. */
	pxTopOfStack--;

	/* Task function start address combined with the PSW. */
	pulLocal = ( unsigned long * ) pxTopOfStack;
	*pulLocal = ( ( ( unsigned long ) pxCode ) \| ( portPSW << 24UL ) );
	pxTopOfStack--;

	/* An initial value for the AX register. */
	*pxTopOfStack = ( portSTACK_TYPE ) 0x1111;
	pxTopOfStack--;
	}
	#else
	{
	/* Task function address is written to the stack first. As it is
	written as a 32bit value a space is left on the stack for the second
	two bytes. */
	pxTopOfStack--;

	/* Task function start address combined with the PSW. */
	pulLocal = ( unsigned long * ) pxTopOfStack;
	*pulLocal = ( ( ( unsigned long ) pxCode ) \| ( portPSW << 24UL ) );
	pxTopOfStack--;

	/* The parameter is passed in AX. */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
	pxTopOfStack--;
	}
	#endif

	/* An initial value for the HL register. */
	*pxTopOfStack = ( portSTACK_TYPE ) 0x2222;
	pxTopOfStack--;

	/* CS and ES registers. */
	*pxTopOfStack = ( portSTACK_TYPE ) 0x0F00;
	pxTopOfStack--;

	/* Finally the remaining general purpose registers DE and BC */
	*pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE;
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC;
	pxTopOfStack--;

	/* Finally the critical section nesting count is set to zero when the task
	first starts. */
	*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING;

	/* Return a pointer to the top of the stack we have generated so this can
	be stored in the task control block for the task. */
	return pxTopOfStack;
	}
	/-----------------------------------------------------------/

	portBASE_TYPE xPortStartScheduler( void )
	{
	/* Setup the hardware to generate the tick. Interrupts are disabled when
	this function is called. */
	prvSetupTimerInterrupt();

	/* Restore the context of the first task that is going to run. */
	vPortStart();

	/* Should not get here as the tasks are now running! */
	return pdTRUE;
	}
	/-----------------------------------------------------------/

	void vPortEndScheduler( void )
	{
	/* It is unlikely that the 78K0R port will get stopped. If required simply
	disable the tick interrupt here. */
	}
	/-----------------------------------------------------------/

	static void prvSetupTimerInterrupt( void )
	{
	/* Setup channel 5 of the TAU to generate the tick interrupt. */

	/* First the Timer Array Unit has to be enabled. */
	TAU0EN = 1;

	/* To configure the Timer Array Unit all Channels have to first be stopped. */
	TT0 = 0xff;

	/* Interrupt of Timer Array Unit Channel 5 is disabled to set the interrupt
	priority. */
	TMMK05 = 1;

	/* Clear Timer Array Unit Channel 5 interrupt flag. */
	TMIF05 = 0;

	/* Set Timer Array Unit Channel 5 interrupt priority */
	TMPR005 = 0;
	TMPR105 = 0;

	/* Set Timer Array Unit Channel 5 Mode as interval timer. */
	TMR05 = 0x0000;

	/* Set the compare match value according to the tick rate we want. */
	TDR05 = ( portTickType ) ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );

	/* Set Timer Array Unit Channel 5 output mode */
	TOM0 &= ~0x0020;

	/* Set Timer Array Unit Channel 5 output level */
	TOL0 &= ~0x0020;

	/* Set Timer Array Unit Channel 5 output enable */
	TOE0 &= ~0x0020;

	/* Interrupt of Timer Array Unit Channel 5 enabled */
	TMMK05 = 0;

	/* Start Timer Array Unit Channel 5.*/
	TS0 \|= 0x0020;
	}
	/-----------------------------------------------------------/