/* FreeRTOS V8.1.0 - 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! */ /* Changes from V3.2.1 + CallReturn Depth increased from 8 to 10 levels to accomodate wizC/fedC V12. Changes from V3.2.0 + TBLPTRU is now initialised to zero during the initial stack creation of a new task. This solves an error on devices with more than 64kB ROM. Changes from V3.0.0 + ucCriticalNesting is now initialised to 0x7F to prevent interrupts from being handled before the scheduler is started. Changes from V3.0.1 */ /* Scheduler include files. */ #include #include #include /*--------------------------------------------------------------------------- * Implementation of functions defined in portable.h for the WizC PIC18 port. *---------------------------------------------------------------------------*/ /* * 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; /* * Define minimal-stack constants * ----- * FSR's: * STATUS, WREG, BSR, PRODH, PRODL, FSR0H, FSR0L, * FSR1H, FSR1L,TABLAT, (TBLPTRU), TBLPTRH, TBLPTRL, * (PCLATU), PCLATH * sfr's within parenthesis only on devices > 64kB * ----- * Call/Return stack: * 2 bytes per entry on devices <= 64kB * 3 bytes per entry on devices > 64kB * ----- * Other bytes: * 2 bytes: FunctionParameter for initial taskcode * 1 byte : Number of entries on call/return stack * 1 byte : ucCriticalNesting * 16 bytes: Free space on stack */ #if _ROMSIZE > 0x8000 #define portSTACK_FSR_BYTES ( 15 ) #define portSTACK_CALLRETURN_ENTRY_SIZE ( 3 ) #else #define portSTACK_FSR_BYTES ( 13 ) #define portSTACK_CALLRETURN_ENTRY_SIZE ( 2 ) #endif #define portSTACK_MINIMAL_CALLRETURN_DEPTH ( 10 ) #define portSTACK_OTHER_BYTES ( 20 ) uint16_t usCalcMinStackSize = 0; /*-----------------------------------------------------------*/ /* * We initialise ucCriticalNesting to the middle value an * uint8_t can contain. This way portENTER_CRITICAL() * and portEXIT_CRITICAL() can be called without interrupts * being enabled before the scheduler starts. */ register uint8_t ucCriticalNesting = 0x7F; /*-----------------------------------------------------------*/ /* * Initialise the stack of a new task. * See portSAVE_CONTEXT macro for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { uint8_t ucScratch; /* * Get the size of the RAMarea in page 0 used by the compiler * We do this here already to avoid W-register conflicts. */ _Pragma("asm") movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE movwf PRODL,ACCESS ; PRODL is used as temp register _Pragma("asmend") ucScratch = PRODL; /* * Place a few bytes of known values on the bottom of the stack. * This is just useful for debugging. */ // *pxTopOfStack-- = 0x11; // *pxTopOfStack-- = 0x22; // *pxTopOfStack-- = 0x33; /* * Simulate how the stack would look after a call to vPortYield() * generated by the compiler. */ /* * First store the function parameters. This is where the task expects * to find them when it starts running. */ *pxTopOfStack-- = ( StackType_t ) ( (( uint16_t ) pvParameters >> 8) & 0x00ff ); *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pvParameters & 0x00ff ); /* * Next are all the registers that form part of the task context. */ *pxTopOfStack-- = ( StackType_t ) 0x11; /* STATUS. */ *pxTopOfStack-- = ( StackType_t ) 0x22; /* WREG. */ *pxTopOfStack-- = ( StackType_t ) 0x33; /* BSR. */ *pxTopOfStack-- = ( StackType_t ) 0x44; /* PRODH. */ *pxTopOfStack-- = ( StackType_t ) 0x55; /* PRODL. */ *pxTopOfStack-- = ( StackType_t ) 0x66; /* FSR0H. */ *pxTopOfStack-- = ( StackType_t ) 0x77; /* FSR0L. */ *pxTopOfStack-- = ( StackType_t ) 0x88; /* FSR1H. */ *pxTopOfStack-- = ( StackType_t ) 0x99; /* FSR1L. */ *pxTopOfStack-- = ( StackType_t ) 0xAA; /* TABLAT. */ #if _ROMSIZE > 0x8000 *pxTopOfStack-- = ( StackType_t ) 0x00; /* TBLPTRU. */ #endif *pxTopOfStack-- = ( StackType_t ) 0xCC; /* TBLPTRH. */ *pxTopOfStack-- = ( StackType_t ) 0xDD; /* TBLPTRL. */ #if _ROMSIZE > 0x8000 *pxTopOfStack-- = ( StackType_t ) 0xEE; /* PCLATU. */ #endif *pxTopOfStack-- = ( StackType_t ) 0xFF; /* PCLATH. */ /* * Next the compiler's scratchspace. */ while(ucScratch-- > 0) { *pxTopOfStack-- = ( StackType_t ) 0; } /* * The only function return address so far is the address of the task entry. * The order is TOSU/TOSH/TOSL. For devices > 64kB, TOSU is put on the * stack, too. TOSU is always written as zero here because wizC does not allow * functionpointers to point above 64kB in ROM. */ #if _ROMSIZE > 0x8000 *pxTopOfStack-- = ( StackType_t ) 0; #endif *pxTopOfStack-- = ( StackType_t ) ( ( ( uint16_t ) pxCode >> 8 ) & 0x00ff ); *pxTopOfStack-- = ( StackType_t ) ( ( uint16_t ) pxCode & 0x00ff ); /* * Store the number of return addresses on the hardware stack. * So far only the address of the task entry point. */ *pxTopOfStack-- = ( StackType_t ) 1; /* * The code generated by wizC does not maintain separate * stack and frame pointers. Therefore the portENTER_CRITICAL macro cannot * use the stack as per other ports. Instead a variable is used to keep * track of the critical section nesting. This variable has to be stored * as part of the task context and is initially set to zero. */ *pxTopOfStack-- = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; return pxTopOfStack; } /*-----------------------------------------------------------*/ uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void ) { /* * Fetch the size of compiler's scratchspace. */ _Pragma("asm") movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE movlb usCalcMinStackSize>>8 movwf usCalcMinStackSize,BANKED _Pragma("asmend") /* * Add minimum needed stackspace */ usCalcMinStackSize += ( portSTACK_FSR_BYTES ) + ( portSTACK_MINIMAL_CALLRETURN_DEPTH * portSTACK_CALLRETURN_ENTRY_SIZE ) + ( portSTACK_OTHER_BYTES ); return(usCalcMinStackSize); } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void portSetupTick( void ); /* * Setup a timer for the tick ISR for the preemptive scheduler. */ portSetupTick(); /* * Restore the context of the first task to run. */ portRESTORE_CONTEXT(); /* * This point should never be reached during execution. */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* * It is unlikely that the scheduler for the PIC port will get stopped * once running. When called a reset is done which is probably the * most valid action. */ _Pragma(asmline reset); } /*-----------------------------------------------------------*/ /* * Manual context switch. This is similar to the tick context switch, * but does not increment the tick count. It must be identical to the * tick context switch in how it stores the stack of a task. */ void vPortYield( void ) { /* * Save the context of the current task. */ portSAVE_CONTEXT( portINTERRUPTS_UNCHANGED ); /* * Switch to the highest priority task that is ready to run. */ vTaskSwitchContext(); /* * Start executing the task we have just switched to. */ portRESTORE_CONTEXT(); } /*-----------------------------------------------------------*/ void *pvPortMalloc( uint16_t usWantedSize ) { void *pvReturn; vTaskSuspendAll(); { pvReturn = malloc( ( malloc_t ) usWantedSize ); } xTaskResumeAll(); return pvReturn; } void vPortFree( void *pv ) { if( pv ) { vTaskSuspendAll(); { free( pv ); } xTaskResumeAll(); } }