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/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

    *                                                                         *

    * If you are:                                                             *

    *                                                                         *

    *    + New to FreeRTOS,                                                   *

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    *                                                                         *

    * then take a look at the FreeRTOS books - available as PDF or paperback  *

    *                                                                         *

    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *

    *                  http://www.FreeRTOS.org/Documentation                  *

    *                                                                         *

    * A pdf reference manual is also available.  Both are usually delivered   *

    * to your inbox within 20 minutes to two hours when purchased between 8am *

    * and 8pm GMT (although please allow up to 24 hours in case of            *

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    *                                                                         *

    ***************************************************************************

    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 exception 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.  See the GNU General Public License for

    more details. You should have received a copy of the GNU General Public

    License and the FreeRTOS license exception along with FreeRTOS; if not it

    can be viewed here: http://www.freertos.org/a00114.html and also obtained

    by writing to Richard Barry, contact details for whom are available on the

    FreeRTOS WEB site.

    1 tab == 4 spaces!

    http://www.FreeRTOS.org - Documentation, latest information, license and

    contact details.

    http://www.SafeRTOS.com - A version that is certified for use in safety

    critical systems.

    http://www.OpenRTOS.com - Commercial support, development, porting,

    licensing and training services.

*/

/* 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                 ( ( portSTACK_TYPE ) 0x00 )

/* Hardware specific constants used to generate the RTOS tick from the TPU. */

#define portCLEAR_ON_TGRA_COMPARE_MATCH ( ( unsigned char ) 0x20 )

#define portCLOCK_DIV_64                                ( ( unsigned char ) 0x03 )

#define portCLOCK_DIV                                   ( ( unsigned long ) 64 )

#define portTGRA_INTERRUPT_ENABLE               ( ( unsigned char ) 0x01 )

#define portTIMER_CHANNEL                               ( ( unsigned char ) 0x02 )

#define portMSTP13                                              ( ( unsigned short ) 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.

 */

portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )

{

unsigned long ulValue;

        /* This requires an even address. */

        ulValue = ( unsigned long ) 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 = ( unsigned long ) pxCode;

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

        pxTopOfStack--;

        ulValue >>= 8UL;

        *pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

        pxTopOfStack--;

        ulValue >>= 8UL;

        *pxTopOfStack = ( portSTACK_TYPE ) ( 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 = ( unsigned long ) pvParameters;

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

        pxTopOfStack--;

        ulValue >>= 8UL;

        *pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

        pxTopOfStack--;

        ulValue >>= 8UL;

        *pxTopOfStack = ( portSTACK_TYPE ) ( ulValue & 0xff );

        pxTopOfStack--;

        ulValue >>= 8UL;

        *pxTopOfStack = ( portSTACK_TYPE ) ( 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;

}

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

portBASE_TYPE 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();

                vTaskIncrementTick();

                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 )

        {

                vTaskIncrementTick();

                /* Clear the interrupt. */

                TSR1 &= ~0x01;

        }

#endif

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

/*

 * Setup timer 1 compare match to generate a tick interrupt.

 */

static void prvSetupTimerInterrupt( void )

{

const unsigned long 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;

}

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