mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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de276eb023
* Fix spelling --------- Co-authored-by: Rahul Kar <118818625+kar-rahul-aws@users.noreply.github.com>
426 lines
22 KiB
C
426 lines
22 KiB
C
/*
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* FreeRTOS Kernel <DEVELOPMENT BRANCH>
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* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*
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Changes from V3.0.0
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Changes from V3.0.1
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#if !defined(_SERIES) || _SERIES != 18
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#error "WizC supports FreeRTOS on the Microchip PIC18-series only"
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#endif
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#if !defined(QUICKCALL) || QUICKCALL != 1
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#error "QuickCall must be enabled (see ProjectOptions/Optimisations)"
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#endif
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#include <stddef.h>
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#include <pic.h>
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#define portCHAR char
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#define portFLOAT float
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#define portDOUBLE portFLOAT
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#define portLONG long
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#define portSHORT short
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#define portSTACK_TYPE uint8_t
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#define portBASE_TYPE char
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typedef portSTACK_TYPE StackType_t;
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typedef signed char BaseType_t;
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typedef unsigned char UBaseType_t;
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#if( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
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typedef uint16_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) ( 0xFFFF )
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#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
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typedef uint32_t TickType_t;
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#define portMAX_DELAY ( TickType_t ) ( 0xFFFFFFFFUL )
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#else
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#error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
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#endif
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#define portBYTE_ALIGNMENT 1
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/*-----------------------------------------------------------*/
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/*
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* Constant used for context switch macro when we require the interrupt
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* enable state to be forced when the interrupted task is switched back in.
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*/
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#define portINTERRUPTS_FORCED (0x01)
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/*
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* Constant used for context switch macro when we require the interrupt
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* enable state to be unchanged when the interrupted task is switched back in.
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*/
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#define portINTERRUPTS_UNCHANGED (0x00)
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/* Initial interrupt enable state for newly created tasks. This value is
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* used when a task switches in for the first time.
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*/
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#define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED)
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/*
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* Macros to modify the global interrupt enable bit in INTCON.
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*/
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#define portDISABLE_INTERRUPTS() \
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do \
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{ \
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bGIE=0; \
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} while(bGIE) // MicroChip recommends this check!
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#define portENABLE_INTERRUPTS() \
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do \
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{ \
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bGIE=1; \
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} while(0)
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/*-----------------------------------------------------------*/
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/*
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* Critical section macros.
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*/
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extern uint8_t ucCriticalNesting;
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#define portNO_CRITICAL_SECTION_NESTING ( ( uint8_t ) 0 )
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#define portENTER_CRITICAL() \
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do \
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{ \
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portDISABLE_INTERRUPTS(); \
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\
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/* \
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* Now interrupts are disabled ucCriticalNesting \
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* can be accessed directly. Increment \
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* ucCriticalNesting to keep a count of how \
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* many times portENTER_CRITICAL() has been called. \
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*/ \
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ucCriticalNesting++; \
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} while(0)
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#define portEXIT_CRITICAL() \
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do \
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{ \
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if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \
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{ \
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/* \
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* Decrement the nesting count as we are leaving a \
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* critical section. \
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*/ \
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ucCriticalNesting--; \
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} \
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\
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/* \
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* If the nesting level has reached zero then \
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* interrupts should be re-enabled. \
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*/ \
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if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \
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{ \
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portENABLE_INTERRUPTS(); \
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} \
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} while(0)
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/*-----------------------------------------------------------*/
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/*
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* The minimal stacksize is calculated on the first reference of
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* portMINIMAL_STACK_SIZE. Some input to this calculation is
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* compile time determined, other input is port-defined (see port.c)
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*/
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extern uint16_t usPortCALCULATE_MINIMAL_STACK_SIZE( void );
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extern uint16_t usCalcMinStackSize;
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#define portMINIMAL_STACK_SIZE \
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((usCalcMinStackSize == 0) \
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? usPortCALCULATE_MINIMAL_STACK_SIZE() \
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: usCalcMinStackSize )
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/*
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* WizC uses a downgrowing stack
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*/
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#define portSTACK_GROWTH ( -1 )
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/*-----------------------------------------------------------*/
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/*
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* Macro's that pushes all the registers that make up the context of a task onto
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* the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU
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* are only saved/restored on devices with more than 64kB (32k Words) ROM.
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*
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* The stackpointer is held by WizC in FSR2 and points to the first free byte.
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* WizC uses a "downgrowing" stack. There is no framepointer.
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*
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* We keep track of the interruptstatus using ucCriticalNesting. When this
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* value equals zero, interrupts have to be enabled upon exit from the
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* portRESTORE_CONTEXT macro.
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*
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* If this is called from an ISR then the interrupt enable bits must have been
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* set for the ISR to ever get called. Therefore we want to save
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* ucCriticalNesting with value zero. This means the interrupts will again be
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* re-enabled when the interrupted task is switched back in.
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*
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* If this is called from a manual context switch (i.e. from a call to yield),
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* then we want to keep the current value of ucCriticalNesting so it is restored
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* with its current value. This allows a yield from within a critical section.
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*
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* The compiler uses some locations at the bottom of RAM for temporary
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* storage. The compiler may also have been instructed to optimize
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* function-parameters and local variables to global storage. The compiler
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* uses an area called LocOpt for this wizC feature.
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* The total overheadstorage has to be saved in it's entirety as part of
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* a task context. These macro's store/restore from data address 0x0000 to
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* (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1).
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* OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated
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* assembler definitions.
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*/
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#define portSAVE_CONTEXT( ucInterruptForced ) \
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do \
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{ \
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portDISABLE_INTERRUPTS(); \
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\
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_Pragma("asm") \
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; \
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; Push the relevant SFR's onto the task's stack \
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; \
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movff STATUS,POSTDEC2 \
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movff WREG,POSTDEC2 \
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movff BSR,POSTDEC2 \
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movff PRODH,POSTDEC2 \
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movff PRODL,POSTDEC2 \
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movff FSR0H,POSTDEC2 \
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movff FSR0L,POSTDEC2 \
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movff FSR1H,POSTDEC2 \
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movff FSR1L,POSTDEC2 \
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movff TABLAT,POSTDEC2 \
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if __ROMSIZE > 0x8000 \
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movff TBLPTRU,POSTDEC2 \
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endif \
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movff TBLPTRH,POSTDEC2 \
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movff TBLPTRL,POSTDEC2 \
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if __ROMSIZE > 0x8000 \
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movff PCLATU,POSTDEC2 \
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endif \
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movff PCLATH,POSTDEC2 \
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; \
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; Store the compiler-scratch-area as described above. \
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; \
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movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
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clrf FSR0L,ACCESS \
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clrf FSR0H,ACCESS \
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_rtos_S1: \
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movff POSTINC0,POSTDEC2 \
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decfsz WREG,W,ACCESS \
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SMARTJUMP _rtos_S1 \
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; \
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; Save the pic call/return-stack belonging to the \
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; current task by copying it to the task's software- \
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; stack. We save the hardware stack pointer (which \
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; is the number of addresses on the stack) in the \
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; W-register first because we need it later and it \
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; is modified in the save-loop by executing pop's. \
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; After the loop the W-register is stored on the \
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; stack, too. \
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; \
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movf STKPTR,W,ACCESS \
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bz _rtos_s3 \
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_rtos_S2: \
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if __ROMSIZE > 0x8000 \
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movff TOSU,POSTDEC2 \
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endif \
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movff TOSH,POSTDEC2 \
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movff TOSL,POSTDEC2 \
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pop \
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tstfsz STKPTR,ACCESS \
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SMARTJUMP _rtos_S2 \
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_rtos_s3: \
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movwf POSTDEC2,ACCESS \
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; \
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; Next the value for ucCriticalNesting used by the \
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; task is stored on the stack. When \
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; (ucInterruptForced == portINTERRUPTS_FORCED), we save \
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; it as 0 (portNO_CRITICAL_SECTION_NESTING). \
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; \
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if ucInterruptForced == portINTERRUPTS_FORCED \
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clrf POSTDEC2,ACCESS \
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else \
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movff ucCriticalNesting,POSTDEC2 \
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endif \
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; \
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; Save the new top of the software stack in the TCB. \
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; \
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movff pxCurrentTCB,FSR0L \
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movff pxCurrentTCB+1,FSR0H \
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movff FSR2L,POSTINC0 \
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movff FSR2H,POSTINC0 \
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_Pragma("asmend") \
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} while(0)
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/************************************************************/
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/*
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* This is the reverse of portSAVE_CONTEXT.
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*/
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#define portRESTORE_CONTEXT() \
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do \
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{ \
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_Pragma("asm") \
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; \
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; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \
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; \
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movff pxCurrentTCB,FSR0L \
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movff pxCurrentTCB+1,FSR0H \
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; \
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; De-reference FSR0 to set the address it holds into \
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; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \
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; is used by wizC as stackpointer. \
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; \
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movff POSTINC0,FSR2L \
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movff POSTINC0,FSR2H \
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; \
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; Next, the value for ucCriticalNesting used by the \
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; task is retrieved from the stack. \
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; \
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movff PREINC2,ucCriticalNesting \
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; \
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; Rebuild the pic call/return-stack. The number of \
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; return addresses is the next item on the task stack. \
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; Save this number in PRODL. Then fetch the addresses \
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; and store them on the hardwarestack. \
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; The datasheets say we can't use movff here... \
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; \
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movff PREINC2,PRODL // Use PRODL as tempregister \
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clrf STKPTR,ACCESS \
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_rtos_R1: \
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push \
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movf PREINC2,W,ACCESS \
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movwf TOSL,ACCESS \
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movf PREINC2,W,ACCESS \
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movwf TOSH,ACCESS \
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if __ROMSIZE > 0x8000 \
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movf PREINC2,W,ACCESS \
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movwf TOSU,ACCESS \
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else \
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clrf TOSU,ACCESS \
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endif \
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decfsz PRODL,F,ACCESS \
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SMARTJUMP _rtos_R1 \
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; \
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; Restore the compiler's working storage area to page 0 \
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; \
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movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
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movwf FSR0L,ACCESS \
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clrf FSR0H,ACCESS \
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_rtos_R2: \
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decf FSR0L,F,ACCESS \
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movff PREINC2,INDF0 \
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tstfsz FSR0L,ACCESS \
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SMARTJUMP _rtos_R2 \
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; \
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; Restore the sfr's forming the tasks context. \
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; We cannot yet restore bsr, w and status because \
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; we need these registers for a final test. \
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; \
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movff PREINC2,PCLATH \
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if __ROMSIZE > 0x8000 \
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movff PREINC2,PCLATU \
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else \
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clrf PCLATU,ACCESS \
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endif \
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movff PREINC2,TBLPTRL \
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movff PREINC2,TBLPTRH \
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if __ROMSIZE > 0x8000 \
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movff PREINC2,TBLPTRU \
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else \
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clrf TBLPTRU,ACCESS \
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endif \
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movff PREINC2,TABLAT \
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movff PREINC2,FSR1L \
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movff PREINC2,FSR1H \
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movff PREINC2,FSR0L \
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movff PREINC2,FSR0H \
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movff PREINC2,PRODL \
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movff PREINC2,PRODH \
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; \
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; The return from portRESTORE_CONTEXT() depends on \
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; the value of ucCriticalNesting. When it is zero, \
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; interrupts need to be enabled. This is done via a \
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; retfie instruction because we need the \
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; interrupt-enabling and the return to the restored \
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; task to be uninterruptible. \
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; Because bsr, status and W are affected by the test \
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; they are restored after the test. \
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; \
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movlb ucCriticalNesting>>8 \
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tstfsz ucCriticalNesting,BANKED \
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SMARTJUMP _rtos_R4 \
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_rtos_R3: \
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movff PREINC2,BSR \
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movff PREINC2,WREG \
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movff PREINC2,STATUS \
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retfie 0 ; Return enabling interrupts \
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_rtos_R4: \
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movff PREINC2,BSR \
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movff PREINC2,WREG \
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movff PREINC2,STATUS \
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return 0 ; Return without affecting interrupts \
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_Pragma("asmend") \
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} while(0)
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/*-----------------------------------------------------------*/
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#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
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/*-----------------------------------------------------------*/
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extern void vPortYield( void );
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#define portYIELD() vPortYield()
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#define portNOP() _Pragma("asm") \
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nop \
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_Pragma("asmend")
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/*-----------------------------------------------------------*/
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#define portTASK_FUNCTION( xFunction, pvParameters ) \
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void pointed xFunction( void *pvParameters ) \
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_Pragma(asmfunc xFunction)
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#define portTASK_FUNCTION_PROTO portTASK_FUNCTION
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/*-----------------------------------------------------------*/
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#define volatile
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#define register
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#endif /* PORTMACRO_H */
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