?? os_cpu_c.c
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/*
* file: OS_MPC565_C.C
*
* uC/OS-II MPC565 PowerPC Specific C Language Functions
*
* Functions:
* OSTaskStkInit ()
*
* Author: Harry E. Barnett 11/11/99
* harryb@hbbse.com http://www.hbbse.com
*
* Version V1.00
*
* Modified for MPC565 use by Peter S 5/4/01
* Added support for Exception Table Relocation buy
* adding IP bit setting in INITIAL_MSR
*/
#include "includes.h"
#include "mpc565.h"
#include "OS_cpu.h"
#if ETR /* Exception Table Relocation */
#define INITIAL_MSR 0xB042 /* EE,FP,ME,IP,RI bits set */
#else
#define INITIAL_MSR 0xB002 /* EE,FP,ME,RI bits set */
#endif
#define STACK_BUFFER_SIZE 0x10 /* Empirically derived */
/***********************************************************
* INITIALIZE A TASK STACK
************************************************************/
OS_STK *OSTaskStkInit (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT16U opt)
{
extern INT16U StackFrameSizeInit;
extern INT16U StackFrameSizeInitAll;
INT32U dia,dia2;
OS_STK * stkp;
dia = (INT32U)ptos;
/* 8-byte align task's stack pointer (EABI) */
stkp = (OS_STK *)((INT32U) ptos & (INT32U) 0xFFFFFFF8);
/* Leave buffer area for locals "above the stack" */
/* in case the compiler prolog puts variables above the stack */
stkp -= STACK_BUFFER_SIZE;
StackFrameSizeInitAll = dia-(INT32U)stkp;
dia2 = (INT32U)stkp;
/*
* Ensure any changes to the order of these initializations
* are congruent with the Stack Frame definitions in mpc565_a.i.s
*/
#if OS_FP_SUPPORT
*--stkp = 0; /* fpscr */
*--stkp = 0;
*--stkp = 0; /* f31 */
*--stkp = 0;
*--stkp = 0; /* f30 */
*--stkp = 0;
*--stkp = 0; /* f29 */
*--stkp = 0;
*--stkp = 0; /* f28 */
*--stkp = 0;
*--stkp = 0; /* f27 */
*--stkp = 0;
*--stkp = 0; /* f26 */
*--stkp = 0;
*--stkp = 0; /* f25 */
*--stkp = 0;
*--stkp = 0; /* f24 */
*--stkp = 0;
*--stkp = 0; /* f23 */
*--stkp = 0;
*--stkp = 0; /* f22 */
*--stkp = 0;
*--stkp = 0; /* f21 */
*--stkp = 0;
*--stkp = 0; /* f20 */
*--stkp = 0;
*--stkp = 0; /* f19 */
*--stkp = 0;
*--stkp = 0; /* f18 */
*--stkp = 0;
*--stkp = 0; /* f17 */
*--stkp = 0;
*--stkp = 0; /* f16 */
*--stkp = 0;
*--stkp = 0; /* f15 */
*--stkp = 0;
*--stkp = 0; /* f14 */
*--stkp = 0;
*--stkp = 0; /* f13 */
*--stkp = 0;
*--stkp = 0; /* f12 */
*--stkp = 0;
*--stkp = 0; /* f11 */
*--stkp = 0;
*--stkp = 0; /* f10 */
*--stkp = 0;
*--stkp = 0; /* f9 */
*--stkp = 0;
*--stkp = 0; /* f8 */
*--stkp = 0;
*--stkp = 0; /* f7 */
*--stkp = 0;
*--stkp = 0; /* f6 */
*--stkp = 0;
*--stkp = 0; /* f5 */
*--stkp = 0;
*--stkp = 0; /* f4 */
*--stkp = 0;
*--stkp = 0; /* f3 */
*--stkp = 0;
*--stkp = 0; /* f2 */
*--stkp = 0;
*--stkp = 0; /* f1 */
*--stkp = 0;
*--stkp = 0; /* f0 */
*--stkp = 0;
#endif
--stkp; /* EABI padding */
--stkp; /* EABI padding */
--stkp; /* EABI padding */
*--stkp = 0L; /* r31 */
*--stkp = 0L; /* r30 */
*--stkp = 0L; /* r29 */
*--stkp = 0L; /* r28 */
*--stkp = 0L; /* r27 */
*--stkp = 0L; /* r26 */
*--stkp = 0L; /* r25 */
*--stkp = 0L; /* r24 */
*--stkp = 0L; /* r23 */
*--stkp = 0L; /* r22 */
*--stkp = 0L; /* r21 */
*--stkp = 0L; /* r20 */
*--stkp = 0L; /* r19 */
*--stkp = 0L; /* r18 */
*--stkp = 0L; /* r17 */
*--stkp = 0L; /* r16 */
*--stkp = 0L; /* r15 */
*--stkp = 0L; /* r14 */
*--stkp = 0L; /* r12 */
*--stkp = 0L; /* r11 */
*--stkp = 0L; /* r10 */
*--stkp = 0L; /* r09 */
*--stkp = 0L; /* r08 */
*--stkp = 0L; /* r07 */
*--stkp = 0L; /* r06 */
*--stkp = 0L; /* r05 */
*--stkp = 0L; /* r04 */
*--stkp = (INT32U)pdata; /* r03 */
*--stkp = (INT32U)task; /* LR */
--stkp; /* CR */
--stkp; /* XER */
--stkp; /* CTR */
*--stkp = (INT32U)INITIAL_MSR; /* SRR1 */
*--stkp = (INT32U)task; /* SRR0 */
--stkp; /* R0 */
--stkp; /* LR placeholder for called functions */
*--stkp = (INT32U)ptos; /* Back chain (old Stack Ptr) */
StackFrameSizeInit = dia2-(INT32U)stkp;
return ((void *) stkp);
}
/*$PAGE*/
/* Code from here to bottom of file is taken directly from
* Jean J. Labrosse's example file IX86L/OS_CPU_C.C
*/
/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1992-1998, Jean J. Labrosse, Plantation, FL
* All Rights Reserved
*
* File : OS_CPU_C.C
* By : Jean J. Labrosse
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN
/*
*********************************************************************************************************
* TASK CREATION HOOK
*
* Description: This function is called when a task is created.
*
* Arguments : ptcb is a pointer to the task control block of the task being created.
*
* Note(s) : 1) Interrupts are disabled during this call.
*********************************************************************************************************
*/
void OSTaskCreateHook (OS_TCB *ptcb)
{
}
/*
*********************************************************************************************************
* TASK DELETION HOOK
*
* Description: This function is called when a task is deleted.
*
* Arguments : ptcb is a pointer to the task control block of the task being deleted.
*
* Note(s) : 1) Interrupts are disabled during this call.
*********************************************************************************************************
*/
void OSTaskDelHook (OS_TCB *ptcb)
{
}
/*
*********************************************************************************************************
* TASK SWITCH HOOK
*
* Description: This function is called when a task switch is performed. This allows you to perform other
* operations during a context switch.
*
* Arguments : none
*
* Note(s) : 1) Interrupts are disabled during this call.
* 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that
* will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the
* task being switched out (i.e. the preempted task).
*********************************************************************************************************
*/
unsigned long OldTimeBase; /*dia*/
void OSTaskSwHook (void)
{
#if OS_FULL_DIAGNOSICS > 0
INT32U time;
TASK_USER_DATA *puser;
GetTimeBase(); /* This task is done */
if (OldTimeBase != 0)
{
time = TimeBase-OldTimeBase;
puser = OSTCBCur->OSTCBExtPtr; /* Point to user data */
if (puser != (void *)0)
{
puser->Ctr++; /* Increment task counter */
puser->ExecTime = time; /* Update the task's execution time */
if (time > puser->MaxTime)
puser->MaxTime = time;
if (time < puser->MinTime)
puser->MinTime = time;
puser->TotExecTime += time; /* Update the task's total execution time */
}
}
OldTimeBase=TimeBase; /* Start for next task */
#endif
}
/*
*********************************************************************************************************
* STATISTIC TASK HOOK
*
* Description: This function is called every second by uC/OS-II's statistics task. This allows your
* application to add functionality to the statistics task.
*
* Arguments : none
*********************************************************************************************************
*/
unsigned int StatTaskCalls = 9;
unsigned long StatUpdate=0; /*dia*/
unsigned long OSCtxSwCtrOld,OSCtxSwSec;
unsigned int OSCPUUsageAve; /* Average percentage of CPU used */
unsigned int OSCPUUsageSum;
void OSTaskStatHook (void)
{
#if OS_FULL_DIAGNOSICS > 0
OSCPUUsageSum += OSCPUUsage;
if ((StatTaskCalls--) == 0)
{
OSCPUUsageAve = OSCPUUsageSum/10;
OSCPUUsageSum = 0;
StatTaskCalls = 9;
StatUpdate++;
OSCtxSwSec = (OSCtxSwCtr-OSCtxSwCtrOld);
OSCtxSwCtrOld = OSCtxSwCtr;
}
#endif
}
/*
*********************************************************************************************************
* TICK HOOK
*
* Description: This function is called every tick.
*
* Arguments : none
*
* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
*********************************************************************************************************
*/
void OSTimeTickHook (void)
{
}
void OSTCBInitHook(OS_TCB *ptcb)
{
}
void OSInitHookBegin (void)
{
extern OS_STK T_NopStk[TASK_STK_SIZE],T_RecvStk[TASK_STK_SIZE],T_XmitStk[TASK_STK_SIZE],T_MathStk[TASK_STK_SIZE];
extern OS_STK T_VSStk[TASK_STK_SIZE],T_TpuStk[TASK_STK_SIZE],T_Spare1Stk[TASK_STK_SIZE];
INT32S idx;
INT8U temp;
for (temp=0;temp<=OS_MAX_TASKS; temp++)
TaskUserData[temp].MinTime= 65535;
for (idx = 0; idx < TASK_STK_SIZE; idx++)
{
T_RecvStk[idx] = 0xE0E1E2E3;
T_XmitStk[idx] = 0xE0E1E2E3;
T_MathStk[idx] = 0xE0E1E2E3;
T_NopStk[idx] = 0xE0E1E2E3;
T_VSStk[idx] = 0xE0E1E2E3;
T_TpuStk[idx] = 0xE0E1E2E3;
T_Spare1Stk[idx] = 0xE0E1E2E3;
}
}
void OSInitHookEnd (void)
{
}
void OSTaskIdleHook (void)
{
}
#endif
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