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