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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the 16FX port.
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*----------------------------------------------------------*/
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/*
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* Get current value of DPR and ADB registers
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*/
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portSTACK_TYPE xGet_DPR_ADB_bank( void );
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/*
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* Get current value of DTB and PCB registers
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*/
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portSTACK_TYPE xGet_DTB_PCB_bank( void );
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/*
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* Sets up the periodic ISR used for the RTOS tick. This uses RLT0, but
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* can be done using any given RLT.
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*/
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static void prvSetupRLT0Interrupt( void );
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/*-----------------------------------------------------------*/
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/*
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* We require the address of the pxCurrentTCB variable, but don't want to know
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* any details of its type.
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*/
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typedef void tskTCB;
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extern volatile tskTCB * volatile pxCurrentTCB;
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/*-----------------------------------------------------------*/
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/*
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* Macro to save a task context to the task stack. This macro copies the
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* saved context (AH:AL, DPR:ADB, DTB:PCB , PC and PS) from the system
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* stack to task stack pointed by user stack pointer ( USP for SMALL and
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* MEDIUM memory model amd USB:USP for COMPACT and LARGE memory model ),
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* then it pushes the general purpose registers RW0-RW7 on to the task
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* stack. Finally the resultant stack pointer value is saved into the
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* task control block so it can be retrieved the next time the task
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* executes.
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*/
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#if( ( configMEMMODEL == portSMALL ) || ( configMEMMODEL == portMEDIUM ) )
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#define portSAVE_CONTEXT() \
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{ __asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" MOVW A, _pxCurrentTCB "); \
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__asm(" MOVW A, SP "); \
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__asm(" SWAPW "); \
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__asm(" MOVW @AL, AH "); \
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__asm(" OR CCR,#H'20 "); \
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}
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/*
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* Macro to restore a task context from the task stack. This is effecti-
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* vely the reverse of SAVE_CONTEXT(). First the stack pointer value
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* (USP for SMALL and MEDIUM memory model amd USB:USP for COMPACT and
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* LARGE memory model ) is loaded from the task control block. Next the
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* value of all the general purpose registers RW0-RW7 is retrieved. Fina-
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* lly it copies of the context ( AH:AL, DPR:ADB, DTB:PCB, PC and PS) of
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* the task to be executed upon RETI from user stack to system stack.
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*/
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#define portRESTORE_CONTEXT() \
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{ __asm(" MOVW A, _pxCurrentTCB "); \
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__asm(" MOVW A, @A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" MOVW SP, A "); \
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__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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}
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#elif( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
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#define portSAVE_CONTEXT() \
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{ __asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" POPW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" PUSHW A "); \
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__asm(" PUSHW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" MOVL A, _pxCurrentTCB "); \
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__asm(" MOVL RL2, A "); \
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__asm(" MOVW A, SP "); \
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__asm(" MOVW @RL2+0, A "); \
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__asm(" MOV A, USB "); \
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__asm(" MOV @RL2+2, A "); \
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}
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#define portRESTORE_CONTEXT() \
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{ __asm(" MOVL A, _pxCurrentTCB "); \
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__asm(" MOVL RL2, A "); \
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__asm(" MOVW A, @RL2+0 "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" MOVW SP, A "); \
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__asm(" MOV A, @RL2+2 "); \
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__asm(" MOV USB, A "); \
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__asm(" POPW (RW0,RW1,RW2,RW3,RW4,RW5,RW6,RW7) "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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__asm(" AND CCR,#H'DF "); \
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__asm(" POPW A "); \
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__asm(" OR CCR,#H'20 "); \
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__asm(" PUSHW A "); \
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}
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#endif
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/*-----------------------------------------------------------*/
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/*
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* Functions for obtaining the current value of DPR:ADB, DTB:PCB bank registers
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*/
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#pragma asm
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.GLOBAL _xGet_DPR_ADB_bank
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| 252 |
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.GLOBAL _xGet_DTB_PCB_bank
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.SECTION CODE, CODE, ALIGN=1
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_xGet_DPR_ADB_bank:
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| 257 |
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MOV A, DPR
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SWAP
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MOV A, ADB
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ORW A
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#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
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RETP
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| 263 |
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#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
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RET
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| 265 |
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#endif
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| 266 |
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| 267 |
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| 268 |
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_xGet_DTB_PCB_bank:
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| 269 |
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| 270 |
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MOV A, DTB
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| 271 |
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SWAP
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| 272 |
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MOV A, PCB
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| 273 |
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ORW A
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| 274 |
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#if configMEMMODEL == portMEDIUM || configMEMMODEL == portLARGE
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| 275 |
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RETP
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| 276 |
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#elif configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
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| 277 |
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RET
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| 278 |
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#endif
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| 279 |
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| 280 |
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#pragma endasm
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| 281 |
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/*-----------------------------------------------------------*/
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| 282 |
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| 283 |
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/*
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| 284 |
|
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* Initialise the stack of a task to look exactly as if a call to
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| 285 |
|
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* portSAVE_CONTEXT had been called.
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| 286 |
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*
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| 287 |
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* See the header file portable.h.
|
| 288 |
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*/
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| 289 |
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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| 290 |
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{
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| 291 |
|
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/* Place a few bytes of known values on the bottom of the stack.
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| 292 |
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This is just useful for debugging. */
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| 293 |
|
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*pxTopOfStack = 0x1111;
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| 294 |
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pxTopOfStack--;
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| 295 |
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*pxTopOfStack = 0x2222;
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| 296 |
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pxTopOfStack--;
|
| 297 |
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*pxTopOfStack = 0x3333;
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| 298 |
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pxTopOfStack--;
|
| 299 |
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| 300 |
|
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/* Once the task is called the task would push the pointer to the
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| 301 |
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parameter onto the stack. Hence here the pointer would be copied to the stack
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| 302 |
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first. When using the COMPACT or LARGE memory model the pointer would be 24
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| 303 |
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bits, and when using the SMALL or MEDIUM memory model the pointer would be 16
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| 304 |
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bits. */
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| 305 |
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#if( ( configMEMMODEL == portCOMPACT ) || ( configMEMMODEL == portLARGE ) )
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| 306 |
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{
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| 307 |
|
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*pxTopOfStack = ( portSTACK_TYPE ) ( ( unsigned long ) ( pvParameters ) >> 16 );
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| 308 |
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pxTopOfStack--;
|
| 309 |
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}
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| 310 |
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#endif
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| 311 |
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|
| 312 |
|
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*pxTopOfStack = ( portSTACK_TYPE ) ( pvParameters );
|
| 313 |
|
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pxTopOfStack--;
|
| 314 |
|
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|
| 315 |
|
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/* This is redundant push to the stack. This is required in order to introduce
|
| 316 |
|
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an offset so that the task accesses a parameter correctly that is passed on to
|
| 317 |
|
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the task stack. */
|
| 318 |
|
|
#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
|
| 319 |
|
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{
|
| 320 |
|
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*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
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| 321 |
|
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pxTopOfStack--;
|
| 322 |
|
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}
|
| 323 |
|
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#endif
|
| 324 |
|
|
|
| 325 |
|
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/* This is redundant push to the stack. This is required in order to introduce
|
| 326 |
|
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an offset so the task correctly accesses the parameter passed on the task stack. */
|
| 327 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) ( pxCode );
|
| 328 |
|
|
pxTopOfStack--;
|
| 329 |
|
|
|
| 330 |
|
|
/* PS - User Mode, ILM=7, RB=0, Interrupts enabled,USP */
|
| 331 |
|
|
*pxTopOfStack = 0xE0C0;
|
| 332 |
|
|
pxTopOfStack--;
|
| 333 |
|
|
|
| 334 |
|
|
/* PC */
|
| 335 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) ( pxCode );
|
| 336 |
|
|
pxTopOfStack--;
|
| 337 |
|
|
|
| 338 |
|
|
/* DTB | PCB */
|
| 339 |
|
|
#if configMEMMODEL == portSMALL || configMEMMODEL == portCOMPACT
|
| 340 |
|
|
{
|
| 341 |
|
|
*pxTopOfStack = xGet_DTB_PCB_bank();
|
| 342 |
|
|
pxTopOfStack--;
|
| 343 |
|
|
}
|
| 344 |
|
|
#endif
|
| 345 |
|
|
|
| 346 |
|
|
/* DTB | PCB, in case of MEDIUM and LARGE memory models, PCB would be used
|
| 347 |
|
|
along with PC to indicate the start address of the function. */
|
| 348 |
|
|
#if( ( configMEMMODEL == portMEDIUM ) || ( configMEMMODEL == portLARGE ) )
|
| 349 |
|
|
{
|
| 350 |
|
|
*pxTopOfStack = ( xGet_DTB_PCB_bank() & 0xff00 ) | ( ( ( long ) ( pxCode ) >> 16 ) & 0xff );
|
| 351 |
|
|
pxTopOfStack--;
|
| 352 |
|
|
}
|
| 353 |
|
|
#endif
|
| 354 |
|
|
|
| 355 |
|
|
/* DPR | ADB */
|
| 356 |
|
|
*pxTopOfStack = xGet_DPR_ADB_bank();
|
| 357 |
|
|
pxTopOfStack--;
|
| 358 |
|
|
|
| 359 |
|
|
/* AL */
|
| 360 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x9999;
|
| 361 |
|
|
pxTopOfStack--;
|
| 362 |
|
|
|
| 363 |
|
|
/* AH */
|
| 364 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0xAAAA;
|
| 365 |
|
|
pxTopOfStack--;
|
| 366 |
|
|
|
| 367 |
|
|
/* Next the general purpose registers. */
|
| 368 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x7777; /* RW7 */
|
| 369 |
|
|
pxTopOfStack--;
|
| 370 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x6666; /* RW6 */
|
| 371 |
|
|
pxTopOfStack--;
|
| 372 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x5555; /* RW5 */
|
| 373 |
|
|
pxTopOfStack--;
|
| 374 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x4444; /* RW4 */
|
| 375 |
|
|
pxTopOfStack--;
|
| 376 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x3333; /* RW3 */
|
| 377 |
|
|
pxTopOfStack--;
|
| 378 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222; /* RW2 */
|
| 379 |
|
|
pxTopOfStack--;
|
| 380 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111; /* RW1 */
|
| 381 |
|
|
pxTopOfStack--;
|
| 382 |
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x8888; /* RW0 */
|
| 383 |
|
|
|
| 384 |
|
|
return pxTopOfStack;
|
| 385 |
|
|
}
|
| 386 |
|
|
/*-----------------------------------------------------------*/
|
| 387 |
|
|
|
| 388 |
|
|
static void prvSetupRLT0Interrupt( void )
|
| 389 |
|
|
{
|
| 390 |
|
|
/* The peripheral clock divided by 16 is used by the timer. */
|
| 391 |
|
|
const unsigned short usReloadValue = ( unsigned short ) ( ( ( configCLKP1_CLOCK_HZ / configTICK_RATE_HZ ) / 16UL ) - 1UL );
|
| 392 |
|
|
|
| 393 |
|
|
/* set reload value = 34999+1, TICK Interrupt after 10 ms @ 56MHz of CLKP1 */
|
| 394 |
|
|
TMRLR0 = usReloadValue;
|
| 395 |
|
|
|
| 396 |
|
|
/* prescaler 1:16, reload, interrupt enable, count enable, trigger */
|
| 397 |
|
|
TMCSR0 = 0x041B;
|
| 398 |
|
|
}
|
| 399 |
|
|
/*-----------------------------------------------------------*/
|
| 400 |
|
|
|
| 401 |
|
|
portBASE_TYPE xPortStartScheduler( void )
|
| 402 |
|
|
{
|
| 403 |
|
|
/* Setup the hardware to generate the tick. */
|
| 404 |
|
|
prvSetupRLT0Interrupt();
|
| 405 |
|
|
|
| 406 |
|
|
/* Restore the context of the first task that is going to run. */
|
| 407 |
|
|
portRESTORE_CONTEXT();
|
| 408 |
|
|
|
| 409 |
|
|
/* Simulate a function call end as generated by the compiler. We will now
|
| 410 |
|
|
jump to the start of the task the context of which we have just restored. */
|
| 411 |
|
|
__asm(" reti ");
|
| 412 |
|
|
|
| 413 |
|
|
|
| 414 |
|
|
/* Should not get here. */
|
| 415 |
|
|
return pdTRUE;
|
| 416 |
|
|
}
|
| 417 |
|
|
/*-----------------------------------------------------------*/
|
| 418 |
|
|
|
| 419 |
|
|
void vPortEndScheduler( void )
|
| 420 |
|
|
{
|
| 421 |
|
|
/* Not implemented - unlikely to ever be required as there is nothing to
|
| 422 |
|
|
return to. */
|
| 423 |
|
|
}
|
| 424 |
|
|
|
| 425 |
|
|
/*-----------------------------------------------------------*/
|
| 426 |
|
|
|
| 427 |
|
|
/*
|
| 428 |
|
|
* The interrupt service routine used depends on whether the pre-emptive
|
| 429 |
|
|
* scheduler is being used or not.
|
| 430 |
|
|
*/
|
| 431 |
|
|
|
| 432 |
|
|
#if configUSE_PREEMPTION == 1
|
| 433 |
|
|
|
| 434 |
|
|
/*
|
| 435 |
|
|
* Tick ISR for preemptive scheduler. We can use a __nosavereg attribute
|
| 436 |
|
|
* as the context is to be saved by the portSAVE_CONTEXT() macro, not the
|
| 437 |
|
|
* compiler generated code. The tick count is incremented after the context
|
| 438 |
|
|
* is saved.
|
| 439 |
|
|
*/
|
| 440 |
|
|
__nosavereg __interrupt void prvRLT0_TICKISR( void )
|
| 441 |
|
|
{
|
| 442 |
|
|
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
|
| 443 |
|
|
__DI();
|
| 444 |
|
|
|
| 445 |
|
|
/* Save the context of the interrupted task. */
|
| 446 |
|
|
portSAVE_CONTEXT();
|
| 447 |
|
|
|
| 448 |
|
|
/* Enable interrupts */
|
| 449 |
|
|
__EI();
|
| 450 |
|
|
|
| 451 |
|
|
/* Clear RLT0 interrupt flag */
|
| 452 |
|
|
TMCSR0_UF = 0;
|
| 453 |
|
|
|
| 454 |
|
|
/* Increment the tick count then switch to the highest priority task
|
| 455 |
|
|
that is ready to run. */
|
| 456 |
|
|
vTaskIncrementTick();
|
| 457 |
|
|
vTaskSwitchContext();
|
| 458 |
|
|
|
| 459 |
|
|
/* Disable interrupts so that portRESTORE_CONTEXT() is not interrupted */
|
| 460 |
|
|
__DI();
|
| 461 |
|
|
|
| 462 |
|
|
/* Restore the context of the new task. */
|
| 463 |
|
|
portRESTORE_CONTEXT();
|
| 464 |
|
|
|
| 465 |
|
|
/* Enable interrupts */
|
| 466 |
|
|
__EI();
|
| 467 |
|
|
}
|
| 468 |
|
|
|
| 469 |
|
|
#else
|
| 470 |
|
|
|
| 471 |
|
|
/*
|
| 472 |
|
|
* Tick ISR for the cooperative scheduler. All this does is increment the
|
| 473 |
|
|
* tick count. We don't need to switch context, this can only be done by
|
| 474 |
|
|
* manual calls to taskYIELD();
|
| 475 |
|
|
*/
|
| 476 |
|
|
__interrupt void prvRLT0_TICKISR( void )
|
| 477 |
|
|
{
|
| 478 |
|
|
/* Clear RLT0 interrupt flag */
|
| 479 |
|
|
TMCSR0_UF = 0;
|
| 480 |
|
|
|
| 481 |
|
|
vTaskIncrementTick();
|
| 482 |
|
|
}
|
| 483 |
|
|
|
| 484 |
|
|
#endif
|
| 485 |
|
|
|
| 486 |
|
|
/*-----------------------------------------------------------*/
|
| 487 |
|
|
|
| 488 |
|
|
/*
|
| 489 |
|
|
* Manual context switch. We can use a __nosavereg attribute as the context
|
| 490 |
|
|
* is to be saved by the portSAVE_CONTEXT() macro, not the compiler generated
|
| 491 |
|
|
* code.
|
| 492 |
|
|
*/
|
| 493 |
|
|
__nosavereg __interrupt void vPortYield( void )
|
| 494 |
|
|
{
|
| 495 |
|
|
/* Save the context of the interrupted task. */
|
| 496 |
|
|
portSAVE_CONTEXT();
|
| 497 |
|
|
|
| 498 |
|
|
/* Switch to the highest priority task that is ready to run. */
|
| 499 |
|
|
vTaskSwitchContext();
|
| 500 |
|
|
|
| 501 |
|
|
/* Restore the context of the new task. */
|
| 502 |
|
|
portRESTORE_CONTEXT();
|
| 503 |
|
|
}
|
| 504 |
|
|
/*-----------------------------------------------------------*/
|
| 505 |
|
|
|
| 506 |
|
|
__nosavereg __interrupt void vPortYieldDelayed( void )
|
| 507 |
|
|
{
|
| 508 |
|
|
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
|
| 509 |
|
|
__DI();
|
| 510 |
|
|
|
| 511 |
|
|
/* Save the context of the interrupted task. */
|
| 512 |
|
|
portSAVE_CONTEXT();
|
| 513 |
|
|
|
| 514 |
|
|
/* Enable interrupts */
|
| 515 |
|
|
__EI();
|
| 516 |
|
|
|
| 517 |
|
|
/* Clear delayed interrupt flag */
|
| 518 |
|
|
__asm (" CLRB 03A4H:0 ");
|
| 519 |
|
|
|
| 520 |
|
|
/* Switch to the highest priority task that is ready to run. */
|
| 521 |
|
|
vTaskSwitchContext();
|
| 522 |
|
|
|
| 523 |
|
|
/* Disable interrupts so that portSAVE_CONTEXT() is not interrupted */
|
| 524 |
|
|
__DI();
|
| 525 |
|
|
|
| 526 |
|
|
/* Restore the context of the new task. */
|
| 527 |
|
|
portRESTORE_CONTEXT();
|
| 528 |
|
|
|
| 529 |
|
|
/* Enable interrupts */
|
| 530 |
|
|
__EI();
|
| 531 |
|
|
}
|
| 532 |
|
|
/*-----------------------------------------------------------*/
|
| 533 |
|
|
|
