FreeRTOS/Source/portable/GCC/H8S2329/port.c - nest-yale-lock/1.0.1/freertos - Git at Google

 /*
     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;
 }
 /*-----------------------------------------------------------*/
	/*
	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;
	}
	/-----------------------------------------------------------/