/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
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, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/*----------------------------------------------------------- | |
* Implementation of functions defined in portable.h for the H8S port. | |
*----------------------------------------------------------*/ | |
/*-----------------------------------------------------------*/ | |
/* When the task starts interrupts should be enabled. */ | |
#define portINITIAL_CCR ( ( StackType_t ) 0x00 ) | |
/* Hardware specific constants used to generate the RTOS tick from the TPU. */ | |
#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 ) | |
#define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 ) | |
#define portCLOCK_DIV ( ( uint32_t ) 64 ) | |
#define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 ) | |
#define portTIMER_CHANNEL ( ( uint8_t ) 0x02 ) | |
#define portMSTP13 ( ( uint16_t ) 0x2000 ) | |
/* | |
* Setup TPU channel one for the RTOS tick at the requested frequency. | |
*/ | |
static void prvSetupTimerInterrupt( void ); | |
/* | |
* The ISR used by portYIELD(). This is installed as a trap handler. | |
*/ | |
void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) ); | |
/*-----------------------------------------------------------*/ | |
/* | |
* See header file for description. | |
*/ | |
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
{ | |
uint32_t ulValue; | |
/* This requires an even address. */ | |
ulValue = ( uint32_t ) pxTopOfStack; | |
if( ulValue & 1UL ) | |
{ | |
pxTopOfStack = pxTopOfStack - 1; | |
} | |
/* Place a few bytes of known values on the bottom of the stack. | |
This is just useful for debugging. */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0xaa; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xbb; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xcc; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xdd; | |
/* The initial stack mimics an interrupt stack. First there is the program | |
counter (24 bits). */ | |
ulValue = ( uint32_t ) pxCode; | |
pxTopOfStack--; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
pxTopOfStack--; | |
ulValue >>= 8UL; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
pxTopOfStack--; | |
ulValue >>= 8UL; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
/* Followed by the CCR. */ | |
pxTopOfStack--; | |
*pxTopOfStack = portINITIAL_CCR; | |
/* Next all the general purpose registers - with the parameters being passed | |
in ER0. The parameter order must match that used by the compiler when the | |
"saveall" function attribute is used. */ | |
/* ER6 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x66; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x66; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x66; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x66; | |
/* ER0 */ | |
ulValue = ( uint32_t ) pvParameters; | |
pxTopOfStack--; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
pxTopOfStack--; | |
ulValue >>= 8UL; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
pxTopOfStack--; | |
ulValue >>= 8UL; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
pxTopOfStack--; | |
ulValue >>= 8UL; | |
*pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); | |
/* ER1 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x11; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x11; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x11; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x11; | |
/* ER2 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22; | |
/* ER3 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33; | |
/* ER4 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x44; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x44; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x44; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x44; | |
/* ER5 */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x55; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x55; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x55; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x55; | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortStartScheduler( void ) | |
{ | |
extern void * pxCurrentTCB; | |
/* Setup the hardware to generate the tick. */ | |
prvSetupTimerInterrupt(); | |
/* Restore the context of the first task that is going to run. This | |
mirrors the function epilogue code generated by the compiler when the | |
"saveall" function attribute is used. */ | |
asm volatile ( | |
"MOV.L @_pxCurrentTCB, ER6 \n\t" | |
"MOV.L @ER6, ER7 \n\t" | |
"LDM.L @SP+, (ER4-ER5) \n\t" | |
"LDM.L @SP+, (ER0-ER3) \n\t" | |
"MOV.L @ER7+, ER6 \n\t" | |
"RTE \n\t" | |
); | |
( void ) pxCurrentTCB; | |
/* Should not get here. */ | |
return pdTRUE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* It is unlikely that the h8 port will get stopped. */ | |
} | |
/*-----------------------------------------------------------*/ | |
/* | |
* Manual context switch. This is a trap handler. The "saveall" function | |
* attribute is used so the context is saved by the compiler prologue. All | |
* we have to do is save the stack pointer. | |
*/ | |
void vPortYield( void ) | |
{ | |
portSAVE_STACK_POINTER(); | |
vTaskSwitchContext(); | |
portRESTORE_STACK_POINTER(); | |
} | |
/*-----------------------------------------------------------*/ | |
/* | |
* The interrupt handler installed for the RTOS tick depends on whether the | |
* preemptive or cooperative scheduler is being used. | |
*/ | |
#if( configUSE_PREEMPTION == 1 ) | |
/* | |
* The preemptive scheduler is used so the ISR calls vTaskSwitchContext(). | |
* The function prologue saves the context so all we have to do is save | |
* the stack pointer. | |
*/ | |
void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) ); | |
void vTickISR( void ) | |
{ | |
portSAVE_STACK_POINTER(); | |
if( xTaskIncrementTick() != pdFALSE ) | |
{ | |
vTaskSwitchContext(); | |
} | |
/* Clear the interrupt. */ | |
TSR1 &= ~0x01; | |
portRESTORE_STACK_POINTER(); | |
} | |
#else | |
/* | |
* The cooperative scheduler is being used so all we have to do is | |
* periodically increment the tick. This can just be a normal ISR and | |
* the "saveall" attribute is not required. | |
*/ | |
void vTickISR( void ) __attribute__ ( ( interrupt_handler ) ); | |
void vTickISR( void ) | |
{ | |
xTaskIncrementTick(); | |
/* Clear the interrupt. */ | |
TSR1 &= ~0x01; | |
} | |
#endif | |
/*-----------------------------------------------------------*/ | |
/* | |
* Setup timer 1 compare match to generate a tick interrupt. | |
*/ | |
static void prvSetupTimerInterrupt( void ) | |
{ | |
const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV; | |
/* Turn the module on. */ | |
MSTPCR &= ~portMSTP13; | |
/* Configure timer 1. */ | |
TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64; | |
/* Configure the compare match value for a tick of configTICK_RATE_HZ. */ | |
TGR1A = ulCompareMatch; | |
/* Start the timer and enable the interrupt - we can do this here as | |
interrupts are globally disabled when this function is called. */ | |
TIER1 |= portTGRA_INTERRUPT_ENABLE; | |
TSTR |= portTIMER_CHANNEL; | |
} | |
/*-----------------------------------------------------------*/ | |