/* * 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! */ /* Changes from V4.2.1 + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the PIC24 port. *----------------------------------------------------------*/ /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" /* Hardware specifics. */ #define portBIT_SET 1 #define portTIMER_PRESCALE 8 #define portINITIAL_SR 0 /* Defined for backward compatability with project created prior to FreeRTOS.org V4.3.0. */ #ifndef configKERNEL_INTERRUPT_PRIORITY #define configKERNEL_INTERRUPT_PRIORITY 1 #endif /* Use _T1Interrupt as the interrupt handler name if the application writer has not provided their own. */ #ifndef configTICK_INTERRUPT_HANDLER #define configTICK_INTERRUPT_HANDLER _T1Interrupt #endif /* configTICK_INTERRUPT_HANDLER */ /* The program counter is only 23 bits. */ #define portUNUSED_PR_BITS 0x7f /* Records the nesting depth of calls to portENTER_CRITICAL(). */ UBaseType_t uxCriticalNesting = 0xef; #if configKERNEL_INTERRUPT_PRIORITY != 1 #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) #endif #if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) #ifdef __HAS_EDS__ #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP DSWPAG \n" \ "POP DSRPAG \n" \ "POP CORCON \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #else /* __HAS_EDS__ */ #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP PSVPAG \n" \ "POP CORCON \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #endif /* __HAS_EDS__ */ #endif /* MPLAB_PIC24_PORT */ #if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) #define portRESTORE_CONTEXT() \ asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ "MOV [W0], W15 \n" \ "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ "MOV W0, _uxCriticalNesting \n" \ "POP PSVPAG \n" \ "POP CORCON \n" \ "POP DOENDH \n" \ "POP DOENDL \n" \ "POP DOSTARTH \n" \ "POP DOSTARTL \n" \ "POP DCOUNT \n" \ "POP ACCBU \n" \ "POP ACCBH \n" \ "POP ACCBL \n" \ "POP ACCAU \n" \ "POP ACCAH \n" \ "POP ACCAL \n" \ "POP TBLPAG \n" \ "POP RCOUNT \n" /* Restore the registers from the stack. */ \ "POP W14 \n" \ "POP.D W12 \n" \ "POP.D W10 \n" \ "POP.D W8 \n" \ "POP.D W6 \n" \ "POP.D W4 \n" \ "POP.D W2 \n" \ "POP.D W0 \n" \ "POP SR " ); #endif /* MPLAB_DSPIC_PORT */ #ifndef portRESTORE_CONTEXT #error Unrecognised device selected /* Note: dsPIC parts with EDS are not supported as there is no easy way to recover the hardware stacked copies for DOCOUNT, DOHIGH, DOLOW. */ #endif /* * Setup the timer used to generate the tick interrupt. */ void vApplicationSetupTickTimerInterrupt( void ); /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { uint16_t usCode; UBaseType_t i; const StackType_t xInitialStack[] = { 0x1111, /* W1 */ 0x2222, /* W2 */ 0x3333, /* W3 */ 0x4444, /* W4 */ 0x5555, /* W5 */ 0x6666, /* W6 */ 0x7777, /* W7 */ 0x8888, /* W8 */ 0x9999, /* W9 */ 0xaaaa, /* W10 */ 0xbbbb, /* W11 */ 0xcccc, /* W12 */ 0xdddd, /* W13 */ 0xeeee, /* W14 */ 0xcdce, /* RCOUNT */ 0xabac, /* TBLPAG */ /* dsPIC specific registers. */ #ifdef MPLAB_DSPIC_PORT 0x0202, /* ACCAL */ 0x0303, /* ACCAH */ 0x0404, /* ACCAU */ 0x0505, /* ACCBL */ 0x0606, /* ACCBH */ 0x0707, /* ACCBU */ 0x0808, /* DCOUNT */ 0x090a, /* DOSTARTL */ 0x1010, /* DOSTARTH */ 0x1110, /* DOENDL */ 0x1212, /* DOENDH */ #endif }; /* Setup the stack as if a yield had occurred. Save the low bytes of the program counter. */ usCode = ( uint16_t ) pxCode; *pxTopOfStack = ( StackType_t ) usCode; pxTopOfStack++; /* Save the high byte of the program counter. This will always be zero here as it is passed in a 16bit pointer. If the address is greater than 16 bits then the pointer will point to a jump table. */ *pxTopOfStack = ( StackType_t ) 0; pxTopOfStack++; /* Status register with interrupts enabled. */ *pxTopOfStack = portINITIAL_SR; pxTopOfStack++; /* Parameters are passed in W0. */ *pxTopOfStack = ( StackType_t ) pvParameters; pxTopOfStack++; for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( StackType_t ) ); i++ ) { *pxTopOfStack = xInitialStack[ i ]; pxTopOfStack++; } *pxTopOfStack = CORCON; pxTopOfStack++; #if defined(__HAS_EDS__) *pxTopOfStack = DSRPAG; pxTopOfStack++; *pxTopOfStack = DSWPAG; pxTopOfStack++; #else /* __HAS_EDS__ */ *pxTopOfStack = PSVPAG; pxTopOfStack++; #endif /* __HAS_EDS__ */ /* Finally the critical nesting depth. */ *pxTopOfStack = 0x00; pxTopOfStack++; return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { /* Setup a timer for the tick ISR. */ vApplicationSetupTickTimerInterrupt(); /* Restore the context of the first task to run. */ portRESTORE_CONTEXT(); /* Simulate the end of the yield function. */ asm volatile ( "return" ); /* Should not reach here. */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* Not implemented in ports where there is nothing to return to. Artificially force an assert. */ configASSERT( uxCriticalNesting == 1000UL ); } /*-----------------------------------------------------------*/ /* * Setup a timer for a regular tick. */ __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) { const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ ) - 1; /* Prescale of 8. */ T1CON = 0; TMR1 = 0; PR1 = ( uint16_t ) ulCompareMatch; /* Setup timer 1 interrupt priority. */ IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; /* Clear the interrupt as a starting condition. */ IFS0bits.T1IF = 0; /* Enable the interrupt. */ IEC0bits.T1IE = 1; /* Setup the prescale value. */ T1CONbits.TCKPS0 = 1; T1CONbits.TCKPS1 = 0; /* Start the timer. */ T1CONbits.TON = 1; } /*-----------------------------------------------------------*/ void vPortEnterCritical( void ) { portDISABLE_INTERRUPTS(); uxCriticalNesting++; } /*-----------------------------------------------------------*/ void vPortExitCritical( void ) { configASSERT( uxCriticalNesting ); uxCriticalNesting--; if( uxCriticalNesting == 0 ) { portENABLE_INTERRUPTS(); } } /*-----------------------------------------------------------*/ void __attribute__((__interrupt__, auto_psv)) configTICK_INTERRUPT_HANDLER( void ) { /* Clear the timer interrupt. */ IFS0bits.T1IF = 0; if( xTaskIncrementTick() != pdFALSE ) { portYIELD(); } }