begriffs open source - cmsis-freertos/blob - Source/portable/Renesas/RX600v2/port.c

1 /*

4

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10 the terms of the GNU General Public License (version 2) as published by the

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12

13 ***************************************************************************

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18 ***************************************************************************

19

20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY

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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following

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25 ***************************************************************************

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66

67 1 tab == 4 spaces!

68 */

69

70 /*-----------------------------------------------------------

71 * Implementation of functions defined in portable.h for the RX600 port.

72 *----------------------------------------------------------*/

73

74 /* Scheduler includes. */

75 #include "FreeRTOS.h"

76 #include "task.h"

77

78 /* Library includes. */

79 #include "string.h"

80

81 /* Hardware specifics. */

82 #include "iodefine.h"

83

84 /*-----------------------------------------------------------*/

85

86 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore

87 PSW is set with U and I set, and PM and IPL clear. */

88 #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )

89 #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )

90

91 /*-----------------------------------------------------------*/

92

93 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,

94 and therefore installed in the vector table, when the FreeRTOS code is built

95 as a library. */

96 extern BaseType_t vSoftwareInterruptEntry;

97 const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;

98

99 /*-----------------------------------------------------------*/

100

101 /*

102 * Function to start the first task executing - written in asm code as direct

103 * access to registers is required.

104 */

105 static void prvStartFirstTask( void );

106

107 /*

108 * Software interrupt handler. Performs the actual context switch (saving and

109 * restoring of registers). Written in asm code as direct register access is

110 * required.

111 */

112 static void prvYieldHandler( void );

113

114 /*

115 * The entry point for the software interrupt handler. This is the function

116 * that calls the inline asm function prvYieldHandler(). It is installed in

117 * the vector table, but the code that installs it is in prvYieldHandler rather

118 * than using a #pragma.

119 */

120 void vSoftwareInterruptISR( void );

121

122 /*-----------------------------------------------------------*/

123

124 /* This is accessed by the inline assembler functions so is file scope for

125 convenience. */

126 extern void *pxCurrentTCB;

127 extern void vTaskSwitchContext( void );

128

129 /*-----------------------------------------------------------*/

130

131 /*

132 * See header file for description.

133 */

134 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )

135 {

136 /* R0 is not included as it is the stack pointer. */

137

138 *pxTopOfStack = 0x00;

139 pxTopOfStack--;

140 *pxTopOfStack = portINITIAL_PSW;

141 pxTopOfStack--;

142 *pxTopOfStack = ( StackType_t ) pxCode;

143

144 /* When debugging it can be useful if every register is set to a known

145 value. Otherwise code space can be saved by just setting the registers

146 that need to be set. */

147 #ifdef USE_FULL_REGISTER_INITIALISATION

148 {

149 pxTopOfStack--;

150 *pxTopOfStack = 0xffffffff; /* r15. */

151 pxTopOfStack--;

152 *pxTopOfStack = 0xeeeeeeee;

153 pxTopOfStack--;

154 *pxTopOfStack = 0xdddddddd;

155 pxTopOfStack--;

156 *pxTopOfStack = 0xcccccccc;

157 pxTopOfStack--;

158 *pxTopOfStack = 0xbbbbbbbb;

159 pxTopOfStack--;

160 *pxTopOfStack = 0xaaaaaaaa;

161 pxTopOfStack--;

162 *pxTopOfStack = 0x99999999;

163 pxTopOfStack--;

164 *pxTopOfStack = 0x88888888;

165 pxTopOfStack--;

166 *pxTopOfStack = 0x77777777;

167 pxTopOfStack--;

168 *pxTopOfStack = 0x66666666;

169 pxTopOfStack--;

170 *pxTopOfStack = 0x55555555;

171 pxTopOfStack--;

172 *pxTopOfStack = 0x44444444;

173 pxTopOfStack--;

174 *pxTopOfStack = 0x33333333;

175 pxTopOfStack--;

176 *pxTopOfStack = 0x22222222;

177 pxTopOfStack--;

178 }

179 #else

180 {

181 pxTopOfStack -= 15;

182 }

183 #endif

184

185 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */

186 pxTopOfStack--;

187 *pxTopOfStack = portINITIAL_FPSW;

188 pxTopOfStack--;

189 *pxTopOfStack = 0x11111111; /* Accumulator 0. */

190 pxTopOfStack--;

191 *pxTopOfStack = 0x22222222; /* Accumulator 0. */

192 pxTopOfStack--;

193 *pxTopOfStack = 0x33333333; /* Accumulator 0. */

194 pxTopOfStack--;

195 *pxTopOfStack = 0x44444444; /* Accumulator 1. */

196 pxTopOfStack--;

197 *pxTopOfStack = 0x55555555; /* Accumulator 1. */

198 pxTopOfStack--;

199 *pxTopOfStack = 0x66666666; /* Accumulator 1. */

200

201 return pxTopOfStack;

202 }

203 /*-----------------------------------------------------------*/

204

205 BaseType_t xPortStartScheduler( void )

206 {

207 extern void vApplicationSetupTimerInterrupt( void );

208

209 /* Use pxCurrentTCB just so it does not get optimised away. */

210 if( pxCurrentTCB != NULL )

211 {

212 /* Call an application function to set up the timer that will generate the

213 tick interrupt. This way the application can decide which peripheral to

214 use. A demo application is provided to show a suitable example. */

215 vApplicationSetupTimerInterrupt();

216

217 /* Enable the software interrupt. */

218 _IEN( _ICU_SWINT ) = 1;

219

220 /* Ensure the software interrupt is clear. */

221 _IR( _ICU_SWINT ) = 0;

222

223 /* Ensure the software interrupt is set to the kernel priority. */

224 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;

225

226 /* Start the first task. */

227 prvStartFirstTask();

228 }

229

230 /* Just to make sure the function is not optimised away. */

231 ( void ) vSoftwareInterruptISR();

232

233 /* Should not get here. */

234 return pdFAIL;

235 }

236 /*-----------------------------------------------------------*/

237

238 #pragma inline_asm prvStartFirstTask

239 static void prvStartFirstTask( void )

240 {

241 /* When starting the scheduler there is nothing that needs moving to the

242 interrupt stack because the function is not called from an interrupt.

243 Just ensure the current stack is the user stack. */

244 SETPSW U

245

246 /* Obtain the location of the stack associated with which ever task

247 pxCurrentTCB is currently pointing to. */

248 MOV.L #_pxCurrentTCB, R15

249 MOV.L [R15], R15

250 MOV.L [R15], R0

251

252 /* Restore the registers from the stack of the task pointed to by

253 pxCurrentTCB. */

254 POP R15

255 MVTACLO R15, A0 /* Accumulator low 32 bits. */

256 POP R15

257 MVTACHI R15, A0 /* Accumulator high 32 bits. */

258 POP R15

259 MVTACGU R15, A0 /* Accumulator guard. */

260 POP R15

261 MVTACLO R15, A1 /* Accumulator low 32 bits. */

262 POP R15

263 MVTACHI R15, A1 /* Accumulator high 32 bits. */

264 POP R15

265 MVTACGU R15, A1 /* Accumulator guard. */

266 POP R15

267 MVTC R15,FPSW /* Floating point status word. */

268 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */

269 RTE /* This pops the remaining registers. */

270 NOP

271 NOP

272 }

273 /*-----------------------------------------------------------*/

274

275 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )

276 void vTickISR( void )

277 {

278 /* Increment the tick, and perform any processing the new tick value

279 necessitates. */

280 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );

281 {

282 if( xTaskIncrementTick() != pdFALSE )

283 {

284 taskYIELD();

285 }

286 }

287 set_ipl( configKERNEL_INTERRUPT_PRIORITY );

288 }

289 /*-----------------------------------------------------------*/

290

291 void vSoftwareInterruptISR( void )

292 {

293 prvYieldHandler();

294 }

295 /*-----------------------------------------------------------*/

296

297 #pragma inline_asm prvYieldHandler

298 static void prvYieldHandler( void )

299 {

300 /* Re-enable interrupts. */

301 SETPSW I

302

303 /* Move the data that was automatically pushed onto the interrupt stack when

304 the interrupt occurred from the interrupt stack to the user stack.

305

306 R15 is saved before it is clobbered. */

307 PUSH.L R15

308

309 /* Read the user stack pointer. */

310 MVFC USP, R15

311

312 /* Move the address down to the data being moved. */

313 SUB #12, R15

314 MVTC R15, USP

315

316 /* Copy the data across. */

317 MOV.L [ R0 ], [ R15 ] ; R15

318 MOV.L 4[ R0 ], 4[ R15 ] ; PC

319 MOV.L 8[ R0 ], 8[ R15 ] ; PSW

320

321 /* Move the interrupt stack pointer to its new correct position. */

322 ADD #12, R0

323

324 /* All the rest of the registers are saved directly to the user stack. */

325 SETPSW U

326

327 /* Save the rest of the general registers (R15 has been saved already). */

328 PUSHM R1-R14

329

330 /* Save the FPSW and accumulators. */

331 MVFC FPSW, R15

332 PUSH.L R15

333 MVFACGU #0, A1, R15

334 PUSH.L R15

335 MVFACHI #0, A1, R15

336 PUSH.L R15

337 MVFACLO #0, A1, R15 ; Low order word.

338 PUSH.L R15

339 MVFACGU #0, A0, R15

340 PUSH.L R15

341 MVFACHI #0, A0, R15

342 PUSH.L R15

343 MVFACLO #0, A0, R15 ; Low order word.

344 PUSH.L R15

345

346 /* Save the stack pointer to the TCB. */

347 MOV.L #_pxCurrentTCB, R15

348 MOV.L [ R15 ], R15

349 MOV.L R0, [ R15 ]

350

351 /* Ensure the interrupt mask is set to the syscall priority while the kernel

352 structures are being accessed. */

353 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY

354

355 /* Select the next task to run. */

356 BSR.A _vTaskSwitchContext

357

358 /* Reset the interrupt mask as no more data structure access is required. */

359 MVTIPL #configKERNEL_INTERRUPT_PRIORITY

360

361 /* Load the stack pointer of the task that is now selected as the Running

362 state task from its TCB. */

363 MOV.L #_pxCurrentTCB,R15

364 MOV.L [ R15 ], R15

365 MOV.L [ R15 ], R0

366

367 /* Restore the context of the new task. The PSW (Program Status Word) and

368 PC will be popped by the RTE instruction. */

369 POP R15

370 MVTACLO R15, A0 /* Accumulator low 32 bits. */

371 POP R15

372 MVTACHI R15, A0 /* Accumulator high 32 bits. */

373 POP R15

374 MVTACGU R15, A0 /* Accumulator guard. */

375 POP R15

376 MVTACLO R15, A1 /* Accumulator low 32 bits. */

377 POP R15

378 MVTACHI R15, A1 /* Accumulator high 32 bits. */

379 POP R15

380 MVTACGU R15, A1 /* Accumulator guard. */

381 POP R15

382 MVTC R15,FPSW

383 POPM R1-R15

384 RTE

385 NOP

386 NOP

387 }

388 /*-----------------------------------------------------------*/

389

390 void vPortEndScheduler( void )

391 {

392 /* Not implemented in ports where there is nothing to return to.

393 Artificially force an assert. */

394 configASSERT( pxCurrentTCB == NULL );

395

396 /* The following line is just to prevent the symbol getting optimised away. */

397 ( void ) vTaskSwitchContext();

398 }

399 /*-----------------------------------------------------------*/

400

401

402