322 lines
10 KiB
C
322 lines
10 KiB
C
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "mb91467d.h"
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/*-----------------------------------------------------------*/
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/* We require the address of the pxCurrentTCB variable, but don't want to know
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any details of its type. */
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typedef void TCB_t;
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extern volatile TCB_t * volatile pxCurrentTCB;
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/*-----------------------------------------------------------*/
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#pragma asm
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#macro SaveContext
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ORCCR #0x20 ;Switch to user stack
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ST RP,@-R15 ;Store RP
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STM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Store R7-R0
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STM1 (R14,R13,R12,R11,R10,R9,R8) ;Store R14-R8
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ST MDH, @-R15 ;Store MDH
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ST MDL, @-R15 ;Store MDL
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ANDCCR #0xDF ;Switch back to system stack
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LD @R15+,R0 ;Store PC to R0
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ORCCR #0x20 ;Switch to user stack
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ST R0,@-R15 ;Store PC to User stack
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ANDCCR #0xDF ;Switch back to system stack
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LD @R15+,R0 ;Store PS to R0
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ORCCR #0x20 ;Switch to user stack
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ST R0,@-R15 ;Store PS to User stack
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LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address
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LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address
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ST R15,@R0 ;Store USP to pxCurrentTCB->pxTopOfStack
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ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR
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#endm
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#macro RestoreContext
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LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address
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LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address
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ORCCR #0x20 ;Switch to user stack
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LD @R0, R15 ;Restore USP from pxCurrentTCB->pxTopOfStack
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LD @R15+,R0 ;Store PS to R0
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ANDCCR #0xDF ;Switch to system stack
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ST R0,@-R15 ;Store PS to system stack
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ORCCR #0x20 ;Switch to user stack
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LD @R15+,R0 ;Store PC to R0
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ANDCCR #0xDF ;Switch to system stack
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ST R0,@-R15 ;Store PC to system stack
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ORCCR #0x20 ;Switch back to retrieve the remaining context
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LD @R15+, MDL ;Restore MDL
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LD @R15+, MDH ;Restore MDH
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LDM1 (R14,R13,R12,R11,R10,R9,R8) ;Restore R14-R8
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LDM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Restore R7-R0
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LD @R15+, RP ;Restore RP
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ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR
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#endm
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#pragma endasm
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/*-----------------------------------------------------------*/
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/*
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* Perform hardware setup to enable ticks from timer 1,
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*/
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static void prvSetupTimerInterrupt( void );
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if a call to
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* portSAVE_CONTEXT had been called.
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*
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* See the header file portable.h.
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*/
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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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{
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/* Place a few bytes of known values on the bottom of the stack.
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This is just useful for debugging. */
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*pxTopOfStack = 0x11111111;
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pxTopOfStack--;
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*pxTopOfStack = 0x22222222;
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pxTopOfStack--;
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*pxTopOfStack = 0x33333333;
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pxTopOfStack--;
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/* This is a redundant push to the stack, it may be required if
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in some implementations of the compiler the parameter to the task
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is passed on to the stack rather than in R4 register. */
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*pxTopOfStack = (StackType_t)(pvParameters);
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00000000; /* RP */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00007777; /* R7 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00006666; /* R6 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00005555; /* R5 */
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pxTopOfStack--;
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/* In the current implementation of the compiler the first
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parameter to the task (or function) is passed via R4 parameter
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to the task, hence the pvParameters pointer is copied into the R4
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register. See compiler manual section 4.6.2 for more information. */
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*pxTopOfStack = ( StackType_t ) (pvParameters); /* R4 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00003333; /* R3 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00002222; /* R2 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00001111; /* R1 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00000001; /* R0 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x0000EEEE; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x0000DDDD; /* R13 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x0000CCCC; /* R12 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x0000BBBB; /* R11 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x0000AAAA; /* R10 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00009999; /* R9 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x00008888; /* R8 */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x11110000; /* MDH */
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x22220000; /* MDL */
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pxTopOfStack--;
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/* The start of the task code. */
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*pxTopOfStack = ( StackType_t ) pxCode; /* PC */
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pxTopOfStack--;
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/* PS - User Mode, USP, ILM=31, Interrupts enabled */
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*pxTopOfStack = ( StackType_t ) 0x001F0030; /* PS */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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BaseType_t xPortStartScheduler( void )
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{
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/* Setup the hardware to generate the tick. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task that is going to run. */
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#pragma asm
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RestoreContext
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#pragma endasm
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/* Simulate a function call end as generated by the compiler. We will now
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jump to the start of the task the context of which we have just restored. */
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__asm(" reti ");
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/* Should not get here. */
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return pdFAIL;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* Not implemented - unlikely to ever be required as there is nothing to
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return to. */
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}
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/*-----------------------------------------------------------*/
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static void prvSetupTimerInterrupt( void )
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{
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/* The peripheral clock divided by 32 is used by the timer. */
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const uint16_t usReloadValue = ( uint16_t ) ( ( ( configPER_CLOCK_HZ / configTICK_RATE_HZ ) / 32UL ) - 1UL );
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/* Setup RLT0 to generate a tick interrupt. */
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TMCSR0_CNTE = 0; /* Count Disable */
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TMCSR0_CSL = 0x2; /* CLKP/32 */
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TMCSR0_MOD = 0; /* Software trigger */
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TMCSR0_RELD = 1; /* Reload */
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TMCSR0_UF = 0; /* Clear underflow flag */
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TMRLR0 = usReloadValue;
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TMCSR0_INTE = 1; /* Interrupt Enable */
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TMCSR0_CNTE = 1; /* Count Enable */
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TMCSR0_TRG = 1; /* Trigger */
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PORTEN = 0x3; /* Port Enable */
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}
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/*-----------------------------------------------------------*/
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#if configUSE_PREEMPTION == 1
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/*
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* Tick ISR for preemptive scheduler. The tick count is incremented
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* after the context is saved. Then the context is switched if required,
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* and last the context of the task which is to be resumed is restored.
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*/
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#pragma asm
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.global _ReloadTimer0_IRQHandler
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_ReloadTimer0_IRQHandler:
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ANDCCR #0xEF ;Disable Interrupts
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SaveContext ;Save context
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ORCCR #0x10 ;Re-enable Interrupts
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LDI #0xFFFB,R1
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LDI #_tmcsr0, R0
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AND R1,@R0 ;Clear RLT0 interrupt flag
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CALL32 _xTaskIncrementTick,R12 ;Increment Tick
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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ANDCCR #0xEF ;Disable Interrupts
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RestoreContext ;Restore context
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ORCCR #0x10 ;Re-enable Interrupts
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RETI
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#pragma endasm
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#else
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/*
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* Tick ISR for the cooperative scheduler. All this does is increment the
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* tick count. We don't need to switch context, this can only be done by
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* manual calls to taskYIELD();
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*/
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__interrupt void ReloadTimer0_IRQHandler( void )
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{
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/* Clear RLT0 interrupt flag */
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TMCSR0_UF = 0;
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xTaskIncrementTick();
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}
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#endif
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/*
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* Manual context switch. We can use a __nosavereg attribute as the context
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* would be saved by PortSAVE_CONTEXT(). The context is switched and then
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* the context of the new task is restored saved.
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*/
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#pragma asm
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.global _vPortYieldDelayed
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_vPortYieldDelayed:
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ANDCCR #0xEF ;Disable Interrupts
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SaveContext ;Save context
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ORCCR #0x10 ;Re-enable Interrupts
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LDI #_dicr, R0
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BANDL #0x0E, @R0 ;Clear Delayed interrupt flag
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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ANDCCR #0xEF ;Disable Interrupts
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RestoreContext ;Restore context
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ORCCR #0x10 ;Re-enable Interrupts
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RETI
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#pragma endasm
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch. We can use a __nosavereg attribute as the context
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* would be saved by PortSAVE_CONTEXT(). The context is switched and then
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* the context of the new task is restored saved.
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*/
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#pragma asm
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.global _vPortYield
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_vPortYield:
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SaveContext ;Save context
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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RestoreContext ;Restore context
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RETI
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#pragma endasm
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/*-----------------------------------------------------------*/
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