/* FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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 modification 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. Full license text is available on the following link: http://www.freertos.org/a00114.html *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading the FAQ page "My application does not run, what could be wrong?". Have you defined configASSERT()? http://www.FreeRTOS.org/support - In return for receiving this top quality embedded software for free we request you assist our global community by participating in the support forum. http://www.FreeRTOS.org/training - Investing in training allows your team to be as productive as possible as early as possible. Now you can receive FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers Ltd, and the world's leading authority on the world's leading RTOS. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ /*----------------------------------------------------------- * Implementation of functions defined in portable.h for the PIC32MX port. *----------------------------------------------------------*/ #ifndef __XC #error This port is designed to work with XC32. Please update your C compiler version. #endif /* Scheduler include files. */ #include "FreeRTOS.h" #include "task.h" /* Oasis5 PIC32 include files */ #include "timer.h" #include #include /* Library includes to satisfy definition of e.g. memset() */ #include /* Hardware specifics. */ #define portTIMER_PRESCALE 8 #define portPRESCALE_BITS 1 /* Bits within various registers. */ #define portIE_BIT ( 0x00000001 ) #define portEXL_BIT ( 0x00000002 ) /* Bits within the CAUSE register. */ #define portCORE_SW_0 ( 0x00000100 ) #define portCORE_SW_1 ( 0x00000200 ) /* The EXL bit is set to ensure interrupts do not occur while the context of the first task is being restored. */ #define portINITIAL_SR ( portIE_BIT | portEXL_BIT ) /* By default port.c generates its tick interrupt from TIMER1. The user can override this behaviour by: 1: Providing their own implementation of vApplicationSetupTickTimerInterrupt(), which is the function that configures the timer. The function is defined as a weak symbol in this file so if the same function name is used in the application code then the version in the application code will be linked into the application in preference to the version defined in this file. 2: Define configTICK_INTERRUPT_VECTOR to the vector number of the timer used to generate the tick interrupt. For example, when timer 1 is used then configTICK_INTERRUPT_VECTOR is set to _TIMER_1_VECTOR. configTICK_INTERRUPT_VECTOR should be defined in FreeRTOSConfig.h. 3: Define configCLEAR_TICK_TIMER_INTERRUPT() to clear the interrupt in the timer used to generate the tick interrupt. For example, when timer 1 is used configCLEAR_TICK_TIMER_INTERRUPT() is defined to IFS0CLR = _IFS0_T1IF_MASK. */ #ifndef configTICK_INTERRUPT_VECTOR #define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR #define configCLEAR_TICK_TIMER_INTERRUPT() IFS0CLR = _IFS0_T1IF_MASK #else #ifndef configCLEAR_TICK_TIMER_INTERRUPT #error If configTICK_INTERRUPT_VECTOR is defined in application code then configCLEAR_TICK_TIMER_INTERRUPT must also be defined in application code. #endif #endif /* Let the user override the pre-loading of the initial RA with the address of prvTaskExitError() in case it messes up unwinding of the stack in the debugger - in which case configTASK_RETURN_ADDRESS can be defined as 0 (NULL). */ #ifdef configTASK_RETURN_ADDRESS #define portTASK_RETURN_ADDRESS configTASK_RETURN_ADDRESS #else #define portTASK_RETURN_ADDRESS prvTaskExitError #endif /* Set configCHECK_FOR_STACK_OVERFLOW to 3 to add ISR stack checking to task stack checking. A problem in the ISR stack will trigger an assert, not call the stack overflow hook function (because the stack overflow hook is specific to a task stack, not the ISR stack). */ #if( configCHECK_FOR_STACK_OVERFLOW > 2 ) /* Don't use 0xa5 as the stack fill bytes as that is used by the kernerl for the task stacks, and so will legitimately appear in many positions within the ISR stack. */ #define portISR_STACK_FILL_BYTE 0xee static const uint8_t ucExpectedStackBytes[] = { portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, \ portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE, portISR_STACK_FILL_BYTE }; \ #define portCHECK_ISR_STACK() if (memcmp((void *)xISRStack, (void *)ucExpectedStackBytes, sizeof(ucExpectedStackBytes))) picSoftReset() #else /* Define the function away. */ #define portCHECK_ISR_STACK() #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ /*-----------------------------------------------------------*/ /* * Place the prototype here to ensure the interrupt vector is correctly installed. * Note that because the interrupt is written in assembly, the IPL setting in the * following line of code has no effect. The interrupt priority is set by the * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt(). */ extern void __attribute__( (interrupt(IPL1AUTO), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler(void); extern void __attribute__( (interrupt(IPL2AUTO), vector(_EXTERNAL_4_VECTOR)) ) vPortRTCInterruptHandler(void); extern void __attribute__( (interrupt(IPL6AUTO), vector(_EXTERNAL_0_VECTOR)) ) vPortPwrFailIntHandler(void); extern void __attribute__( (interrupt(IPL3AUTO), vector(_TIMER_2_VECTOR)) ) vPortT2IntHandler(void); //extern void __attribute__( (interrupt(IPL3AUTO), vector(_TIMER_3_VECTOR)) ) vPortT3IntHandler(void); extern volatile uint16_t clkMs; /* Milliseconds of time of day */ /* * The software interrupt handler that performs the yield. Note that, because * the interrupt is written in assembly, the IPL setting in the following line of * code has no effect. The interrupt priority is set by the call to * mConfigIntCoreSW0() in xPortStartScheduler(). */ void __attribute__( (interrupt(IPL1AUTO), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void ); /* * Used to catch tasks that attempt to return from their implementing function. */ static void prvTaskExitError( void ); /*-----------------------------------------------------------*/ /* Records the interrupt nesting depth. This is initialised to one as it is decremented to 0 when the first task starts. */ volatile UBaseType_t uxInterruptNesting = 0x01; /* Stores the task stack pointer when a switch is made to use the system stack. */ UBaseType_t uxSavedTaskStackPointer = 0; /* The stack used by interrupt service routines that cause a context switch. */ StackType_t xISRStack[ configISR_STACK_SIZE ] = { 0 }; /* The top of stack value ensures there is enough space to store 6 registers on the callers stack, as some functions seem to want to do this. */ const StackType_t * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] ); /*-----------------------------------------------------------*/ /* * See header file for description. */ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { /* Ensure byte alignment is maintained when leaving this function. */ pxTopOfStack--; *pxTopOfStack = (StackType_t) 0xDEADBEEF; pxTopOfStack--; *pxTopOfStack = (StackType_t) 0x12345678; /* Word to which the stack pointer will be left pointing after context restore. */ pxTopOfStack--; *pxTopOfStack = (StackType_t) _CP0_GET_CAUSE(); pxTopOfStack--; *pxTopOfStack = (StackType_t) portINITIAL_SR;/* CP0_STATUS */ pxTopOfStack--; *pxTopOfStack = (StackType_t) pxCode; /* CP0_EPC */ pxTopOfStack--; *pxTopOfStack = (StackType_t) portTASK_RETURN_ADDRESS; /* ra */ pxTopOfStack -= 15; *pxTopOfStack = (StackType_t) pvParameters; /* Parameters to pass in. */ pxTopOfStack -= 15; return pxTopOfStack; } /*-----------------------------------------------------------*/ static void prvTaskExitError( void ) { /* A function that implements a task must not exit or attempt to return to its caller as there is nothing to return to. If a task wants to exit it should instead call vTaskDelete( NULL ). Changed from original function 27july2016, rah Trigger a software breakpoint if we're in the debugger. Else call taskKill(), which releases resources and then does vTaskDelete(). */ #ifdef __DEBUG __builtin_software_breakpoint(); #else taskKill(NULL); #endif } /*-----------------------------------------------------------*/ /* * Setup a timer for a regular tick. This function uses peripheral timer 1. * The function is declared weak so an application writer can use a different * timer by redefining this implementation. If a different timer is used then * configTICK_INTERRUPT_VECTOR must also be defined in FreeRTOSConfig.h to * ensure the RTOS provided tick interrupt handler is installed on the correct * vector number. When Timer 1 is used the vector number is defined as * _TIMER_1_VECTOR. */ __attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void ) { const uint32_t ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1; T1CON = 0x0000; T1CONbits.TCKPS = portPRESCALE_BITS; PR1 = ulCompareMatch; IPC1bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; /* Clear the interrupt as a starting condition. */ IFS0bits.T1IF = 0; /* Enable the interrupt. */ IEC0bits.T1IE = 1; /* Start the timer. */ T1CONbits.TON = 1; } /*-----------------------------------------------------------*/ void vPortEndScheduler(void) { /* Not implemented in ports where there is nothing to return to. Artificially force an assert. */ configASSERT( uxInterruptNesting == 1000UL ); } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { extern void vPortStartFirstTask( void ); extern void *pxCurrentTCB; #if ( configCHECK_FOR_STACK_OVERFLOW > 2 ) { /* Fill the ISR stack to make it easy to asses how much is being used. */ memset( ( void * ) xISRStack, portISR_STACK_FILL_BYTE, sizeof( xISRStack ) ); } #endif /* configCHECK_FOR_STACK_OVERFLOW > 2 */ /* Clear the software interrupt flag. */ IFS0CLR = _IFS0_CS0IF_MASK; /* Set software timer priority. */ IPC0CLR = _IPC0_CS0IP_MASK; IPC0SET = ( configKERNEL_INTERRUPT_PRIORITY << _IPC0_CS0IP_POSITION ); /* Enable software interrupt. */ IEC0CLR = _IEC0_CS0IE_MASK; IEC0SET = 1 << _IEC0_CS0IE_POSITION; /* Setup the timer to generate the tick. Interrupts will have been disabled by the time we get here. */ vApplicationSetupTickTimerInterrupt(); /* Kick off the highest priority task that has been created so far. Its stack location is loaded into uxSavedTaskStackPointer. */ uxSavedTaskStackPointer = *( UBaseType_t * ) pxCurrentTCB; vPortStartFirstTask(); /* Should never get here as the tasks will now be executing! Call the task exit error function to prevent compiler warnings about a static function not being called in the case that the application writer overrides this functionality by defining configTASK_RETURN_ADDRESS. */ prvTaskExitError(); return pdFALSE; } /*-----------------------------------------------------------*/ void vPortIncrementTick( void ) { UBaseType_t uxSavedStatus; tickPinOn(); uxSavedStatus = uxPortSetInterruptMaskFromISR(); { if( xTaskIncrementTick() != pdFALSE ) { /* Pend a context switch. */ _CP0_BIS_CAUSE( portCORE_SW_0 ); } } clkMs += MS_PER_TICK; /* increment ms in time of day */ vPortClearInterruptMaskFromISR( uxSavedStatus ); /* Look for the ISR stack getting near or past its limit. */ portCHECK_ISR_STACK(); /* Clear timer interrupt. */ configCLEAR_TICK_TIMER_INTERRUPT(); tickPinOff(); } /*-----------------------------------------------------------*/ UBaseType_t uxPortSetInterruptMaskFromISR( void ) { UBaseType_t uxSavedStatusRegister; __builtin_disable_interrupts(); uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01; /* This clears the IPL bits, then sets them to configMAX_SYSCALL_INTERRUPT_PRIORITY. This function should not be called from an interrupt that has a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY so, when used correctly, the action can only result in the IPL being unchanged or raised, and therefore never lowered. */ _CP0_SET_STATUS( ( ( uxSavedStatusRegister & ( ~portALL_IPL_BITS ) ) ) | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ); return uxSavedStatusRegister; } /*-----------------------------------------------------------*/ void vPortClearInterruptMaskFromISR( UBaseType_t uxSavedStatusRegister ) { _CP0_SET_STATUS( uxSavedStatusRegister ); } /*-----------------------------------------------------------*/