diff options
Diffstat (limited to 'FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c')
| -rw-r--r-- | FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c | 102 |
1 files changed, 65 insertions, 37 deletions
diff --git a/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c b/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c index b1506174c..5f327b641 100644 --- a/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c +++ b/FreeRTOS/Source/portable/MPLAB/PIC32MX/port.c @@ -1,7 +1,7 @@ /*
FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
- FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
+ FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
***************************************************************************
@@ -42,7 +42,7 @@ FreeRTOS WEB site.
1 tab == 4 spaces!
-
+
***************************************************************************
* *
* Having a problem? Start by reading the FAQ "My application does *
@@ -52,17 +52,17 @@ * *
***************************************************************************
-
- http://www.FreeRTOS.org - Documentation, training, latest versions, license
- and contact details.
-
+
+ http://www.FreeRTOS.org - Documentation, training, latest versions, license
+ and contact details.
+
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
- Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
- the code with commercial support, indemnification, and middleware, under
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
- provide a safety engineered and independently SIL3 certified version under
+ provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand: http://www.SafeRTOS.com.
*/
@@ -70,20 +70,29 @@ * 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"
/* Hardware specifics. */
-#define portTIMER_PRESCALE 8
+#define portTIMER_PRESCALE 8
+#define portPRESCALE_BITS 1
/* Bits within various registers. */
-#define portIE_BIT ( 0x00000001 )
-#define portEXL_BIT ( 0x00000002 )
+#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 )
+#define portINITIAL_SR ( portIE_BIT | portEXL_BIT )
#ifndef configTICK_INTERRUPT_VECTOR
#define configTICK_INTERRUPT_VECTOR _TIMER_1_VECTOR
@@ -99,30 +108,30 @@ unsigned portBASE_TYPE uxSavedTaskStackPointer = 0; /* The stack used by interrupt service routines that cause a context switch. */
portSTACK_TYPE xISRStack[ configISR_STACK_SIZE ] = { 0 };
-/* The top of stack value ensures there is enough space to store 6 registers on
+/* 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 portSTACK_TYPE * const xISRStackTop = &( xISRStack[ configISR_STACK_SIZE - 7 ] );
-/*
- * Place the prototype here to ensure the interrupt vector is correctly installed.
+/*
+ * 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().
+ * call to ConfigIntTimer1() in vApplicationSetupTickTimerInterrupt().
*/
extern void __attribute__( (interrupt(ipl1), vector( configTICK_INTERRUPT_VECTOR ))) vPortTickInterruptHandler( void );
/*
* 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().
+ * code has no effect. The interrupt priority is set by the call to
+ * mConfigIntCoreSW0() in xPortStartScheduler().
*/
void __attribute__( (interrupt(ipl1), vector(_CORE_SOFTWARE_0_VECTOR))) vPortYieldISR( void );
/*-----------------------------------------------------------*/
-/*
- * See header file for description.
+/*
+ * See header file for description.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
@@ -152,7 +161,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE *pxTopOfStack = (portSTACK_TYPE) 0x00000000; /* critical nesting level - no longer used. */
pxTopOfStack--;
-
+
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
@@ -163,22 +172,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE * 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
+ * vector number. When Timer 1 is used the vector number is defined as
* _TIMER_1_VECTOR.
*/
__attribute__(( weak )) void vApplicationSetupTickTimerInterrupt( void )
{
const unsigned long ulCompareMatch = ( (configPERIPHERAL_CLOCK_HZ / portTIMER_PRESCALE) / configTICK_RATE_HZ ) - 1;
- OpenTimer1( ( T1_ON | T1_PS_1_8 | T1_SOURCE_INT ), ulCompareMatch );
- ConfigIntTimer1( T1_INT_ON | configKERNEL_INTERRUPT_PRIORITY );
+ 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)
{
/* It is unlikely that the scheduler for the PIC port will get stopped
- once running. If required disable the tick interrupt here, then return
+ once running. If required disable the tick interrupt here, then return
to xPortStartScheduler(). */
for( ;; );
}
@@ -189,14 +209,22 @@ portBASE_TYPE xPortStartScheduler( void ) extern void vPortStartFirstTask( void );
extern void *pxCurrentTCB;
- /* Setup the software interrupt. */
- mConfigIntCoreSW0( CSW_INT_ON | configKERNEL_INTERRUPT_PRIORITY | CSW_INT_SUB_PRIOR_0 );
+ /* Clear the software interrupt flag. */
+ IFS0CLR = _IFS0_CS0IF_MASK;
- /* Setup the timer to generate the tick. Interrupts will have been
+ /* 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.
+ /* Kick off the highest priority task that has been created so far.
Its stack location is loaded into uxSavedTaskStackPointer. */
uxSavedTaskStackPointer = *( unsigned portBASE_TYPE * ) pxCurrentTCB;
vPortStartFirstTask();
@@ -211,17 +239,17 @@ void vPortIncrementTick( void ) unsigned portBASE_TYPE uxSavedStatus;
uxSavedStatus = uxPortSetInterruptMaskFromISR();
- vTaskIncrementTick();
+ vTaskIncrementTick();
vPortClearInterruptMaskFromISR( uxSavedStatus );
-
+
/* If we are using the preemptive scheduler then we might want to select
a different task to execute. */
#if configUSE_PREEMPTION == 1
- SetCoreSW0();
+ _CP0_BIS_CAUSE( portCORE_SW_0 );
#endif /* configUSE_PREEMPTION */
- /* Clear timer 0 interrupt. */
- mT1ClearIntFlag();
+ /* Clear timer 1 interrupt. */
+ IFS0CLR = _IFS0_T1IF_MASK;
}
/*-----------------------------------------------------------*/
@@ -231,9 +259,9 @@ unsigned portBASE_TYPE uxSavedStatusRegister; asm volatile ( "di" );
uxSavedStatusRegister = _CP0_GET_STATUS() | 0x01;
- /* This clears the IPL bits, then sets them to
+ /* 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
+ 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. */
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