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/*
FreeRTOS V8.0.0:rc1 - 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"
/* The critical nesting value is initialised to a non zero value to ensure
interrupts don't accidentally become enabled before the scheduler is started. */
#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )
/* Initial PSW value allocated to a newly created task.
* 1100011000000000
* ||||||||-------------- Fill byte
* |||||||--------------- Carry Flag cleared
* |||||----------------- In-service priority Flags set to low level
* ||||------------------ Register bank Select 0 Flag cleared
* |||------------------- Auxiliary Carry Flag cleared
* ||-------------------- Register bank Select 1 Flag cleared
* |--------------------- Zero Flag set
* ---------------------- Global Interrupt Flag set (enabled)
*/
#define portPSW ( 0xc6UL )
/* The address of the pxCurrentTCB variable, but don't know or need to know its
type. */
typedef void TCB_t;
extern volatile TCB_t * volatile pxCurrentTCB;
/* Each task maintains a count of the critical section nesting depth. Each time
a critical section is entered the count is incremented. Each time a critical
section is exited the count is decremented - with interrupts only being
re-enabled if the count is zero.
usCriticalNesting will get set to zero when the scheduler starts, but must
not be initialised to zero as that could cause problems during the startup
sequence. */
volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
/*-----------------------------------------------------------*/
/*
* Sets up the periodic ISR used for the RTOS tick using the interval timer.
* The application writer can define configSETUP_TICK_INTERRUPT() (in
* FreeRTOSConfig.h) such that their own tick interrupt configuration is used
* in place of prvSetupTimerInterrupt().
*/
static void prvSetupTimerInterrupt( void );
#ifndef configSETUP_TICK_INTERRUPT
/* The user has not provided their own tick interrupt configuration so use
the definition in this file (which uses the interval timer). */
#define configSETUP_TICK_INTERRUPT() prvSetupTimerInterrupt()
#endif /* configSETUP_TICK_INTERRUPT */
/*
* Defined in portasm.s87, this function starts the scheduler by loading the
* context of the first task to run.
*/
extern void vPortStartFirstTask( void );
/*
* Used to catch tasks that attempt to return from their implementing function.
*/
static void prvTaskExitError( 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 )
{
uint32_t *pulLocal;
/* With large code and large data sizeof( StackType_t ) == 2, and
sizeof( StackType_t * ) == 4. With small code and small data
sizeof( StackType_t ) == 2 and sizeof( StackType_t * ) == 2. */
#if __DATA_MODEL__ == __DATA_MODEL_FAR__
{
/* Parameters are passed in on the stack, and written using a 32-bit value
hence a space is left for the second two bytes. */
pxTopOfStack--;
/* Write in the parameter value. */
pulLocal = ( uint32_t * ) pxTopOfStack;
*pulLocal = ( uint32_t ) pvParameters;
pxTopOfStack--;
/* The return address, leaving space for the first two bytes of the
32-bit value. See the comments above the prvTaskExitError() prototype
at the top of this file. */
pxTopOfStack--;
pulLocal = ( uint32_t * ) pxTopOfStack;
*pulLocal = ( uint32_t ) prvTaskExitError;
pxTopOfStack--;
/* The start address / PSW value is also written in as a 32-bit value,
so leave a space for the second two bytes. */
pxTopOfStack--;
/* Task function start address combined with the PSW. */
pulLocal = ( uint32_t * ) pxTopOfStack;
*pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );
pxTopOfStack--;
/* An initial value for the AX register. */
*pxTopOfStack = ( StackType_t ) 0x1111;
pxTopOfStack--;
}
#else
{
/* The return address, leaving space for the first two bytes of the
32-bit value. See the comments above the prvTaskExitError() prototype
at the top of this file. */
pxTopOfStack--;
pulLocal = ( uint32_t * ) pxTopOfStack;
*pulLocal = ( uint32_t ) prvTaskExitError;
pxTopOfStack--;
/* Task function. Again as it is written as a 32-bit value a space is
left on the stack for the second two bytes. */
pxTopOfStack--;
/* Task function start address combined with the PSW. */
pulLocal = ( uint32_t * ) pxTopOfStack;
*pulLocal = ( ( ( uint32_t ) pxCode ) | ( portPSW << 24UL ) );
pxTopOfStack--;
/* The parameter is passed in AX. */
*pxTopOfStack = ( StackType_t ) pvParameters;
pxTopOfStack--;
}
#endif
/* An initial value for the HL register. */
*pxTopOfStack = ( StackType_t ) 0x2222;
pxTopOfStack--;
/* CS and ES registers. */
*pxTopOfStack = ( StackType_t ) 0x0F00;
pxTopOfStack--;
/* The remaining general purpose registers DE and BC */
*pxTopOfStack = ( StackType_t ) 0xDEDE;
pxTopOfStack--;
*pxTopOfStack = ( StackType_t ) 0xBCBC;
pxTopOfStack--;
/* Finally the critical section nesting count is set to zero when the task
first starts. */
*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
/* Return a pointer to the top of the stack that has been generated so it
can be stored in the task control block for the task. */
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
static void prvTaskExitError( void )
{
/* A function that implements a task must not exit or attempt to return to
its caller as there is nothing to return to. If a task wants to exit it
should instead call vTaskDelete( NULL ).
Artificially force an assert() to be triggered if configASSERT() is
defined, then stop here so application writers can catch the error. */
configASSERT( usCriticalNesting == ~0U );
portDISABLE_INTERRUPTS();
for( ;; );
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
/* Setup the hardware to generate the tick. Interrupts are disabled when
this function is called. */
configSETUP_TICK_INTERRUPT();
/* Restore the context of the first task that is going to run. */
vPortStartFirstTask();
/* Execution should not reach here as the tasks are now running!
prvSetupTimerInterrupt() is called here to prevent the compiler outputting
a warning about a statically declared function not being referenced in the
case that the application writer has provided their own tick interrupt
configuration routine (and defined configSETUP_TICK_INTERRUPT() such that
their own routine will be called in place of prvSetupTimerInterrupt()). */
prvSetupTimerInterrupt();
return pdTRUE;
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* It is unlikely that the RL78 port will get stopped. */
}
/*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt( void )
{
const uint16_t usClockHz = 15000UL; /* Internal clock. */
const uint16_t usCompareMatch = ( usClockHz / configTICK_RATE_HZ ) + 1UL;
/* Use the internal 15K clock. */
OSMC = ( uint8_t ) 0x16;
#ifdef RTCEN
{
/* Supply the interval timer clock. */
RTCEN = ( uint8_t ) 1U;
/* Disable INTIT interrupt. */
ITMK = ( uint8_t ) 1;
/* Disable ITMC operation. */
ITMC = ( uint8_t ) 0x0000;
/* Clear INIT interrupt. */
ITIF = ( uint8_t ) 0;
/* Set interval and enable interrupt operation. */
ITMC = usCompareMatch | 0x8000U;
/* Enable INTIT interrupt. */
ITMK = ( uint8_t ) 0;
}
#endif
#ifdef TMKAEN
{
/* Supply the interval timer clock. */
TMKAEN = ( uint8_t ) 1U;
/* Disable INTIT interrupt. */
TMKAMK = ( uint8_t ) 1;
/* Disable ITMC operation. */
ITMC = ( uint8_t ) 0x0000;
/* Clear INIT interrupt. */
TMKAIF = ( uint8_t ) 0;
/* Set interval and enable interrupt operation. */
ITMC = usCompareMatch | 0x8000U;
/* Enable INTIT interrupt. */
TMKAMK = ( uint8_t ) 0;
}
#endif
}
/*-----------------------------------------------------------*/
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