4G04_MCU/rtos/portable/Softune/MB96340/port.c

/*
 * 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
 *
 */

#include "FreeRTOS.h"
#include "task.h"

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the 16FX port.
 *----------------------------------------------------------*/

/* 
 * Get current value of DPR and ADB registers 
 */
StackType_t xGet_DPR_ADB_bank( void ); 

/* 
 * Get current value of DTB and PCB registers 
 */
StackType_t xGet_DTB_PCB_bank( void );

/*
 * Sets up the periodic ISR used for the RTOS tick.  This uses RLT0, but
 * can be done using any given RLT.
 */
static void prvSetupRLT0Interrupt( void );

/*-----------------------------------------------------------*/

/* 
 * 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;

/*-----------------------------------------------------------*/

/* 
 * Macro to save a task context to the task stack. This macro  copies the 
 * saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from  the   system 
 * stack to task stack pointed by user stack pointer ( USP  for SMALL and 
 * MEDIUM memory model amd USB:USP for COMPACT  and LARGE memory model ),
 * then  it pushes the general purpose registers RW0-RW7  on  to the task 
 * stack. Finally the  resultant  stack  pointer  value is saved into the 
 * task  control  block  so  it  can  be retrieved the next time the task 
 * executes.
 */ 
#if( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) )

	#define portSAVE_CONTEXT()											\
			{	__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
	    		__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) ");		\
				__asm(" MOVW A, _pxCurrentTCB ");						\
				__asm(" MOVW A, SP ");									\
  				__asm(" SWAPW ");										\
				__asm(" MOVW @AL, AH ");								\
				__asm(" OR   CCR,#H'20 ");								\
			}

/* 
 * Macro to restore a task context from the task stack.  This is effecti-
 * vely the reverse of SAVE_CONTEXT(). First the stack pointer  value
 * (USP for SMALL and MEDIUM memory model amd  USB:USP  for  COMPACT  and 
 * LARGE memory model ) is loaded from the task  control block.  Next the 
 * value of all the general purpose registers RW0-RW7 is retrieved. Fina-
 * lly it copies of the context ( AH:AL,  DPR:ADB, DTB:PCB, PC and PS) of 
 * the task to be executed upon RETI from user stack to system stack.  
 */
 
	#define portRESTORE_CONTEXT()										\
			{	__asm(" MOVW A, _pxCurrentTCB ");						\
				__asm(" MOVW A, @A ");									\
  				__asm(" AND  CCR,#H'DF ");  							\
  				__asm(" MOVW SP, A ");									\
				__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) ");		\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
			}
		
#elif( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )

	#define portSAVE_CONTEXT()											\
			{	__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
	    		__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" POPW  A ");										\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" PUSHW  A ");									\
				__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) ");		\
				__asm(" MOVL A, _pxCurrentTCB ");						\
				__asm(" MOVL RL2, A ");									\
				__asm(" MOVW A, SP ");									\
				__asm(" MOVW @RL2+0, A ");								\
				__asm(" MOV A, USB ");									\
				__asm(" MOV @RL2+2, A ");								\
			}	
            
	#define portRESTORE_CONTEXT()										\
			{	__asm(" MOVL A, _pxCurrentTCB ");						\
				__asm(" MOVL RL2, A ");									\
				__asm(" MOVW A, @RL2+0 ");								\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" MOVW SP, A ");									\
				__asm(" MOV A, @RL2+2 ");								\
				__asm(" MOV USB, A ");									\
				__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) ");		\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
				__asm(" AND  CCR,#H'DF ");  							\
				__asm(" POPW  A ");										\
				__asm(" OR   CCR,#H'20 ");								\
				__asm(" PUSHW  A ");									\
			}
#endif

/*-----------------------------------------------------------*/	

/* 
 * Functions for obtaining the current value  of  DPR:ADB, DTB:PCB bank registers
 */
 
#pragma asm

        .GLOBAL    _xGet_DPR_ADB_bank
        .GLOBAL    _xGet_DTB_PCB_bank
        .SECTION   CODE, CODE, ALIGN=1

_xGet_DPR_ADB_bank:

    MOV A, DPR
    SWAP
    MOV A, ADB
    ORW A
	#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
		RETP
	#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT   
		RET
	#endif 


_xGet_DTB_PCB_bank:

    MOV A, DTB
    SWAP
    MOV A, PCB
    ORW A
	#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
		RETP
	#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT   
		RET
	#endif 

#pragma endasm
/*-----------------------------------------------------------*/

/* 
 * 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 = 0x1111;
	pxTopOfStack--;
	*pxTopOfStack = 0x2222;
	pxTopOfStack--;
	*pxTopOfStack = 0x3333;
	pxTopOfStack--;

	/* Once the task is called the task  would  push  the  pointer to the
	parameter onto the stack. Hence here the pointer would be copied to the stack
	first.  When using the COMPACT or LARGE memory model the pointer would be 24 
	bits, and when using the SMALL or MEDIUM memory model the pointer would be 16 
	bits. */ 
	#if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
	{
		*pxTopOfStack = ( StackType_t ) ( ( uint32_t ) ( pvParameters ) >> 16 );
		pxTopOfStack--;         
	}
	#endif

    *pxTopOfStack = ( StackType_t ) ( pvParameters );
    pxTopOfStack--;                  
    
    /* This is redundant push to the stack. This is required in order to introduce 
    an offset so that the task accesses a parameter correctly that is passed on to 
    the task stack. */
	#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
	{
		*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff );      
		pxTopOfStack--;       
	}
	#endif

    /* This is redundant push to the stack. This is required in order to introduce 
    an offset so the task correctly accesses the parameter passed on the task stack. */
    *pxTopOfStack = ( StackType_t ) ( pxCode );
    pxTopOfStack--;       

    /* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */
    *pxTopOfStack = 0xE0C0;							
	pxTopOfStack--; 

	/* PC */
	*pxTopOfStack = ( StackType_t ) ( pxCode );     
    pxTopOfStack--;      
    
    /* DTB | PCB */
	#if configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
	{
		*pxTopOfStack = xGet_DTB_PCB_bank();         	
		pxTopOfStack--;
	}
	#endif

	/* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used
	along with PC to indicate the start address of the function. */
	#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
	{
		*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( int32_t ) ( pxCode ) >> 16 ) & 0xff );
		pxTopOfStack--;       
	}
	#endif

	/* DPR | ADB  */
	*pxTopOfStack = xGet_DPR_ADB_bank();				
	pxTopOfStack--;
    
	/* AL */
	*pxTopOfStack = ( StackType_t ) 0x9999;		
	pxTopOfStack--;

	/* AH */
	*pxTopOfStack = ( StackType_t ) 0xAAAA;		
	pxTopOfStack--;
	
	/* Next the general purpose registers. */
	*pxTopOfStack = ( StackType_t ) 0x7777;	/* RW7 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x6666;	/* RW6 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x5555;	/* RW5 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x4444;	/* RW4 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x3333;	/* RW3 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x2222;	/* RW2 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x1111;	/* RW1 */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x8888;	/* RW0 */
		
	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

static void prvSetupRLT0Interrupt( void )
{
/* The peripheral clock divided by 16 is used by the timer. */
const uint16_t usReloadValue = ( uint16_t ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL );

	/* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */
	TMRLR0 = usReloadValue;    
    
    /* prescaler 1:16, reload, interrupt enable, count enable, trigger */
    TMCSR0 = 0x041B;    
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
	/* Setup the hardware to generate the tick. */
	prvSetupRLT0Interrupt();
	
	/* Restore the context of the first task that is going to run. */
	portRESTORE_CONTEXT();

	/* 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 pdTRUE;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* Not implemented - unlikely to ever be required as there is nothing to
	return to. */
}

/*-----------------------------------------------------------*/

/* 
 * The interrupt service routine used depends on whether the pre-emptive
 * scheduler is being used or not.
 */

#if configUSE_PREEMPTION == 1

	/* 
	 * Tick ISR for preemptive scheduler.  We can use a __nosavereg attribute
	 * as the context is to be saved by the portSAVE_CONTEXT() macro, not the
	 * compiler generated code.  The tick count is incremented after the context 
	 * is saved. 
	 */
	__nosavereg __interrupt void prvRLT0_TICKISR( void )
	{
		/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
		__DI();
		
		/* Save the context of the interrupted task. */
		portSAVE_CONTEXT();
		
		/* Enable interrupts */
		__EI();
		
		/* Clear RLT0 interrupt flag */
		TMCSR0_UF = 0;      
		
		/* Increment the tick count then switch to the highest priority task
		that is ready to run. */
		if( xTaskIncrementTick() != pdFALSE )
		{
			vTaskSwitchContext();
		}

		/* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */
		__DI();
		
		/* Restore the context of the new task. */
		portRESTORE_CONTEXT();
		
		/* Enable interrupts */
		__EI();
	}

#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 prvRLT0_TICKISR( void )
	{
		/* Clear RLT0 interrupt flag */
		TMCSR0_UF = 0;  
		
		xTaskIncrementTick();
	}

#endif

/*-----------------------------------------------------------*/

/*
 * Manual context switch. We can use a __nosavereg attribute  as the context 
 * is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated 
 * code.
 */
__nosavereg __interrupt void vPortYield( void )
{
	/* Save the context of the interrupted task. */
	portSAVE_CONTEXT();
	
	/* Switch to the highest priority task that is ready to run. */
	vTaskSwitchContext();
	
	/* Restore the context of the new task. */
	portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/

__nosavereg __interrupt void vPortYieldDelayed( void )
{    
    /* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */      
	__DI();
	
	/* Save the context of the interrupted task. */
	portSAVE_CONTEXT();
	
	/* Enable interrupts */
	__EI();
				
	/* Clear delayed interrupt flag */
    __asm (" CLRB  03A4H:0 ");
	
	/* Switch to the highest priority task that is ready to run. */
	vTaskSwitchContext();
	
	/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */   
	__DI();
	
	/* Restore the context of the new task. */
	portRESTORE_CONTEXT();

	/* Enable interrupts */
	__EI();
}	
/*-----------------------------------------------------------*/