?? os_cpu_c.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* ATmega128 Specific code
*
* File : OS_CPU_C.C
* By : Jean J. Labrosse
*********************************************************************************************************
*/
#define OS_CPU_GLOBALS
#include <ucos_ii.h>
#if OS_VIEW_MODULE > 0
#include <OS_VIEWc.H>
#include <OS_VIEW.H>
#endif
/*
*********************************************************************************************************
* LOCAL GLOBAL VARIABLES
*********************************************************************************************************
*/
#if OS_VERSION >= 281 && OS_TMR_EN > 0
static INT16U OSTmrCtr;
#endif
/*
*********************************************************************************************************
* OS INITIALIZATION HOOK
* (BEGINNING)
*
* Description: This function is called by OSInit() at the beginning of OSInit().
*
* Arguments : none
*
* Note(s) : 1) Interrupts should be disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
void OSInitHookBegin (void)
{
#if OS_VERSION >= 281 && OS_TMR_EN > 0
OS_CPU_TmrCtr = 0;
#endif
}
#endif
/*
*********************************************************************************************************
* OS INITIALIZATION HOOK
* (END)
*
* Description: This function is called by OSInit() at the end of OSInit().
*
* Arguments : none
*
* Note(s) : 1) Interrupts should be disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
void OSInitHookEnd (void)
{
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* 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.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0
void OSTaskCreateHook (OS_TCB *ptcb)
{
#if OS_VIEW_MODULE > 0
OSView_TaskCreateHook(ptcb);
#else
ptcb = ptcb; /* Prevent compiler warning */
#endif
}
#endif
/*
*********************************************************************************************************
* 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.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0
void OSTaskDelHook (OS_TCB *ptcb)
{
ptcb = ptcb; /* Prevent compiler warning */
}
#endif
/*
*********************************************************************************************************
* IDLE TASK HOOK
*
* Description: This function is called by the idle task. This hook has been added to allow you to do
* such things as STOP the CPU to conserve power.
*
* Arguments : none
*
* Note(s) : 1) Interrupts are enabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION >= 251
void OSTaskIdleHook (void)
{
}
#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
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0
void OSTaskStatHook (void)
{
}
#endif
/*$PAGE*/
/*
**********************************************************************************************************
* INITIALIZE A TASK'S STACK
*
* Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the
* stack frame of the task being created. This function is highly processor specific.
*
* Arguments : task is a pointer to the task code
*
* p_arg is a pointer to a user supplied data area that will be passed to the task
* when the task first executes.
*
* ptos is a pointer to the top of stack. It is assumed that 'ptos' points to the
* highest valid address on the stack.
*
* opt specifies options that can be used to alter the behavior of OSTaskStkInit().
* (see uCOS_II.H for OS_TASK_OPT_???).
*
* Returns : Always returns the location of the new top-of-stack' once the processor registers have
* been placed on the stack in the proper order.
*
* Note(s) : Interrupts are enabled when your task starts executing. You can change this by setting the
* SREG to 0x00 instead. In this case, interrupts would be disabled upon task startup. The
* application code would be responsible for enabling interrupts at the beginning of the task
* code. You will need to modify OSTaskIdle() and OSTaskStat() so that they enable interrupts.
* Failure to do this will make your system crash!
*
* The AVR return stack is placed OS_TASK_HARD_STK_SIZE bytes before the bottom of the task's
* stack.
*
* (1) IMPORTANT: The ICC compiler handles function pointers by actually passing the pointer
* to a location in Flash that actually contains the pointer to the function.
*
* (2) IMPORTANT: You MUST set OSTaskStkSize and OSTaskStkSizeHard BEFORE calling OSInit()
* to initialize the Idle and statistic tasks stacks.
**********************************************************************************************************
*/
OS_STK *OSTaskStkInit (void (*task)(void *pd), void *p_arg, OS_STK *ptos, INT16U opt)
{
INT8U *psoft_stk;
INT8U *phard_stk; /* Temp. variable used for setting up AVR hardware stack */
INT16U tmp;
(void)opt; /* 'opt' is not used, prevent warning */
psoft_stk = (INT8U *)ptos;
phard_stk = (INT8U *)ptos
- OSTaskStkSize /* Task stack size */
+ OSTaskStkSizeHard; /* AVR return stack ("hardware stack") */
tmp = *(INT16U const *)task; /* (1) ICC compiler handles function pointers indirectly! */
*phard_stk-- = (INT8U)(tmp & 0xFF); /* Put task start address on top of "hardware stack" */
tmp >>= 8;
*phard_stk-- = (INT8U)(tmp & 0xFF);
*psoft_stk-- = (INT8U)0x00; /* R0 = 0x00 */
*psoft_stk-- = (INT8U)0x01; /* R1 = 0x01 */
*psoft_stk-- = (INT8U)0x02; /* R2 = 0x02 */
*psoft_stk-- = (INT8U)0x03; /* R3 = 0x03 */
*psoft_stk-- = (INT8U)0x04; /* R4 = 0x04 */
*psoft_stk-- = (INT8U)0x05; /* R5 = 0x05 */
*psoft_stk-- = (INT8U)0x06; /* R6 = 0x06 */
*psoft_stk-- = (INT8U)0x07; /* R7 = 0x07 */
*psoft_stk-- = (INT8U)0x08; /* R8 = 0x08 */
*psoft_stk-- = (INT8U)0x09; /* R9 = 0x09 */
*psoft_stk-- = (INT8U)0x10; /* R10 = 0x10 */
*psoft_stk-- = (INT8U)0x11; /* R11 = 0x11 */
*psoft_stk-- = (INT8U)0x12; /* R12 = 0x12 */
*psoft_stk-- = (INT8U)0x13; /* R13 = 0x13 */
*psoft_stk-- = (INT8U)0x14; /* R14 = 0x14 */
*psoft_stk-- = (INT8U)0x15; /* R15 = 0x15 */
tmp = (INT16U)p_arg;
*psoft_stk-- = (INT8U)(tmp & 0xFF); /* 'p_arg' passed in R17:R16 */
tmp >>= 8;
*psoft_stk-- = (INT8U)(tmp & 0xFF);
*psoft_stk-- = (INT8U)0x18; /* R18 = 0x18 */
*psoft_stk-- = (INT8U)0x19; /* R19 = 0x19 */
*psoft_stk-- = (INT8U)0x20; /* R20 = 0x20 */
*psoft_stk-- = (INT8U)0x21; /* R21 = 0x21 */
*psoft_stk-- = (INT8U)0x22; /* R22 = 0x22 */
*psoft_stk-- = (INT8U)0x23; /* R23 = 0x23 */
*psoft_stk-- = (INT8U)0x24; /* R24 = 0x24 */
*psoft_stk-- = (INT8U)0x25; /* R25 = 0x25 */
*psoft_stk-- = (INT8U)0x26; /* R26 = 0x26 */
*psoft_stk-- = (INT8U)0x27; /* R27 = 0x27 */
/* R28 R29:R28 is the software stack which gets ... */
/* R29 ... stored in the task's OS_TCB. */
*psoft_stk-- = (INT8U)0x30; /* R30 = 0x30 */
*psoft_stk-- = (INT8U)0x31; /* R31 = 0x31 */
*psoft_stk-- = (INT8U)0xAA; /* RAMPZ = 0xAA */
*psoft_stk-- = (INT8U)0x80; /* SREG = Interrupts enabled */
tmp = (INT16U)phard_stk;
*psoft_stk-- = (INT8U)(tmp >> 8); /* SPH */
*psoft_stk = (INT8U) tmp; /* SPL */
return ((OS_STK *)psoft_stk);
}
/*$PAGE*/
/*
*********************************************************************************************************
* 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).
*********************************************************************************************************
*/
#if (OS_CPU_HOOKS_EN > 0) && (OS_TASK_SW_HOOK_EN > 0)
void OSTaskSwHook (void)
{
#if OS_VIEW_MODULE > 0
OSView_TaskSwHook();
#endif
}
#endif
/*
*********************************************************************************************************
* OS_TCBInit() HOOK
*
* Description: This function is called by OS_TCBInit() after setting up most of the TCB.
*
* Arguments : ptcb is a pointer to the TCB of the task being created.
*
* Note(s) : 1) Interrupts may or may not be ENABLED during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
void OSTCBInitHook (OS_TCB *ptcb)
{
ptcb = ptcb; /* Prevent Compiler warning */
}
#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.
*********************************************************************************************************
*/
#if (OS_CPU_HOOKS_EN > 0) && (OS_TIME_TICK_HOOK_EN > 0)
void OSTimeTickHook (void)
{
#if OS_VIEW_MODULE > 0
OSView_TickHook();
#endif
#if OS_VERSION >= 281 && OS_TMR_EN > 0
OSTmrCtr++;
if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) {
OSTmrCtr = 0;
OSTmrSignal();
}
#endif
}
#endif
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