/* * FreeRTOS Kernel V10.4.6 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * SPDX-License-Identifier: MIT * * 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. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS * */ /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the H8S port. *----------------------------------------------------------*/ /*-----------------------------------------------------------*/ /* When the task starts interrupts should be enabled. */ #define portINITIAL_CCR ( ( StackType_t ) 0x00 ) /* Hardware specific constants used to generate the RTOS tick from the TPU. */ #define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( uint8_t ) 0x20 ) #define portCLOCK_DIV_64 ( ( uint8_t ) 0x03 ) #define portCLOCK_DIV ( ( uint32_t ) 64 ) #define portTGRA_INTERRUPT_ENABLE ( ( uint8_t ) 0x01 ) #define portTIMER_CHANNEL ( ( uint8_t ) 0x02 ) #define portMSTP13 ( ( uint16_t ) 0x2000 ) /* * Setup TPU channel one for the RTOS tick at the requested frequency. */ static void prvSetupTimerInterrupt( void ); /* * The ISR used by portYIELD(). This is installed as a trap handler. */ void vPortYield( void ) __attribute__ ( ( saveall, interrupt_handler ) ); /*-----------------------------------------------------------*/ /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { uint32_t ulValue; /* This requires an even address. */ ulValue = ( uint32_t ) pxTopOfStack; if( ulValue & 1UL ) { pxTopOfStack = pxTopOfStack - 1; } /* Place a few bytes of known values on the bottom of the stack. This is just useful for debugging. */ pxTopOfStack--; *pxTopOfStack = 0xaa; pxTopOfStack--; *pxTopOfStack = 0xbb; pxTopOfStack--; *pxTopOfStack = 0xcc; pxTopOfStack--; *pxTopOfStack = 0xdd; /* The initial stack mimics an interrupt stack. First there is the program counter (24 bits). */ ulValue = ( uint32_t ) pxCode; pxTopOfStack--; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); /* Followed by the CCR. */ pxTopOfStack--; *pxTopOfStack = portINITIAL_CCR; /* Next all the general purpose registers - with the parameters being passed in ER0. The parameter order must match that used by the compiler when the "saveall" function attribute is used. */ /* ER6 */ pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; pxTopOfStack--; *pxTopOfStack = 0x66; /* ER0 */ ulValue = ( uint32_t ) pvParameters; pxTopOfStack--; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); pxTopOfStack--; ulValue >>= 8UL; *pxTopOfStack = ( StackType_t ) ( ulValue & 0xff ); /* ER1 */ pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; pxTopOfStack--; *pxTopOfStack = 0x11; /* ER2 */ pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; pxTopOfStack--; *pxTopOfStack = 0x22; /* ER3 */ pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; pxTopOfStack--; *pxTopOfStack = 0x33; /* ER4 */ pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; pxTopOfStack--; *pxTopOfStack = 0x44; /* ER5 */ pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; pxTopOfStack--; *pxTopOfStack = 0x55; return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void * pxCurrentTCB; /* Setup the hardware to generate the tick. */ prvSetupTimerInterrupt(); /* Restore the context of the first task that is going to run. This mirrors the function epilogue code generated by the compiler when the "saveall" function attribute is used. */ asm volatile ( "MOV.L @_pxCurrentTCB, ER6 \n\t" "MOV.L @ER6, ER7 \n\t" "LDM.L @SP+, (ER4-ER5) \n\t" "LDM.L @SP+, (ER0-ER3) \n\t" "MOV.L @ER7+, ER6 \n\t" "RTE \n\t" ); ( void ) pxCurrentTCB; /* Should not get here. */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* It is unlikely that the h8 port will get stopped. */ } /*-----------------------------------------------------------*/ /* * Manual context switch. This is a trap handler. The "saveall" function * attribute is used so the context is saved by the compiler prologue. All * we have to do is save the stack pointer. */ void vPortYield( void ) { portSAVE_STACK_POINTER(); vTaskSwitchContext(); portRESTORE_STACK_POINTER(); } /*-----------------------------------------------------------*/ /* * The interrupt handler installed for the RTOS tick depends on whether the * preemptive or cooperative scheduler is being used. */ #if( configUSE_PREEMPTION == 1 ) /* * The preemptive scheduler is used so the ISR calls vTaskSwitchContext(). * The function prologue saves the context so all we have to do is save * the stack pointer. */ void vTickISR( void ) __attribute__ ( ( saveall, interrupt_handler ) ); void vTickISR( void ) { portSAVE_STACK_POINTER(); if( xTaskIncrementTick() != pdFALSE ) { vTaskSwitchContext(); } /* Clear the interrupt. */ TSR1 &= ~0x01; portRESTORE_STACK_POINTER(); } #else /* * The cooperative scheduler is being used so all we have to do is * periodically increment the tick. This can just be a normal ISR and * the "saveall" attribute is not required. */ void vTickISR( void ) __attribute__ ( ( interrupt_handler ) ); void vTickISR( void ) { xTaskIncrementTick(); /* Clear the interrupt. */ TSR1 &= ~0x01; } #endif /*-----------------------------------------------------------*/ /* * Setup timer 1 compare match to generate a tick interrupt. */ static void prvSetupTimerInterrupt( void ) { const uint32_t ulCompareMatch = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) / portCLOCK_DIV; /* Turn the module on. */ MSTPCR &= ~portMSTP13; /* Configure timer 1. */ TCR1 = portCLEAR_ON_TGRA_COMPARE_MATCH | portCLOCK_DIV_64; /* Configure the compare match value for a tick of configTICK_RATE_HZ. */ TGR1A = ulCompareMatch; /* Start the timer and enable the interrupt - we can do this here as interrupts are globally disabled when this function is called. */ TIER1 |= portTGRA_INTERRUPT_ENABLE; TSTR |= portTIMER_CHANNEL; } /*-----------------------------------------------------------*/