git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@66 35acf78f-673a-0410-8e92-d51de3d6d3f4
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@ -138,11 +138,11 @@
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/** Configuration option: Frequency of the system timer that drives the system
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/** Configuration option: Frequency of the system timer that drives the system
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* ticks. This also defines the system time unit.*/
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* ticks. This also defines the system time unit.*/
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#define CH_FREQUENCY 100
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#define CH_FREQUENCY 1000
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/** Configuration option: This constant is the number of ticks allowed for the
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/** Configuration option: This constant is the number of ticks allowed for the
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* threads before preemption occurs.*/
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* threads before preemption occurs.*/
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#define CH_TIME_QUANTUM 10
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#define CH_TIME_QUANTUM 20
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/** Configuration option: Defines a CPU register to be used as storage for the
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/** Configuration option: Defines a CPU register to be used as storage for the
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* global \p currp variable. Caching this variable in a register can greatly
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* global \p currp variable. Caching this variable in a register can greatly
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@ -82,32 +82,43 @@ void hwinit(void) {
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/*
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/*
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* I/O ports setup.
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* I/O ports setup.
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*/
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*/
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DDRA = VAL_DDRA;
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DDRA = VAL_DDRA;
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PORTA = VAL_PORTA;
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PORTA = VAL_PORTA;
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DDRB = VAL_DDRB;
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DDRB = VAL_DDRB;
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PORTB = VAL_PORTB;
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PORTB = VAL_PORTB;
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DDRC = VAL_DDRC;
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DDRC = VAL_DDRC;
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PORTC = VAL_PORTC;
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PORTC = VAL_PORTC;
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DDRD = VAL_DDRD;
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DDRD = VAL_DDRD;
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PORTD = VAL_PORTD;
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PORTD = VAL_PORTD;
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DDRE = VAL_DDRE;
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DDRE = VAL_DDRE;
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PORTE = VAL_PORTE;
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PORTE = VAL_PORTE;
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DDRF = VAL_DDRF;
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DDRF = VAL_DDRF;
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PORTF = VAL_PORTF;
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PORTF = VAL_PORTF;
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DDRG = VAL_DDRG;
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DDRG = VAL_DDRG;
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PORTG = VAL_PORTG;
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PORTG = VAL_PORTG;
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/*
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/*
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* External interrupts setup, all disabled initially.
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* External interrupts setup, all disabled initially.
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*/
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*/
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EICRA = 0x00;
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EICRA = 0x00;
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EICRB = 0x00;
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EICRB = 0x00;
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EIMSK = 0x00;
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EIMSK = 0x00;
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/*
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/*
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* Enables Idle mode for SLEEP instruction.
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* Enables Idle mode for SLEEP instruction.
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*/
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*/
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SMCR = 1;
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SMCR = 1;
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/*
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* Timer 0 setup.
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*/
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TCCR0A = (1 << WGM01) | (0 << WGM00) | // CTC mode.
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(0 << COM0A1) | (0 << COM0A0) | // OC0A disabled (normal I/O).
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(0 << CS02) | (1 << CS01) | (1 << CS00); // CLK/64 clock source.
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OCR0A = F_CPU / 64 / CH_FREQUENCY - 1;
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TCNT0 = 0; // Reset counter.
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TIFR0 = (1 << OCF0A); // Reset pending (if any).
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TIMSK0 = (1 << OCIE0A); // Interrupt on compare.
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}
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}
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void chSysPause(void) {
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void chSysPause(void) {
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@ -79,8 +79,13 @@ typedef struct {
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/**
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/**
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* Platform dependent part of the \p chThdCreate() API.
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* Platform dependent part of the \p chThdCreate() API.
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*/
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*/
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#define SETUP_CONTEXT(workspace, wsize, pf, arg) \
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#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \
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{ \
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tp->p_ctx.sp--; \
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tp->p_ctx.sp->r2 = (int)pf; \
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tp->p_ctx.sp->r3 = (int)pf >> 8; \
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tp->p_ctx.sp->r4 = (int)arg; \
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tp->p_ctx.sp->r5 = (int)arg >> 8; \
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tp->p_ctx.sp->pc = (UWORD16)threadstart; \
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}
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}
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/*
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/*
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@ -100,6 +105,7 @@ typedef struct {
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void chSysHalt(void) __attribute__((noreturn)) ;
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void chSysHalt(void) __attribute__((noreturn)) ;
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void chSysPause(void) __attribute__((noreturn)) ;
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void chSysPause(void) __attribute__((noreturn)) ;
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void chSysSwitchI(Context *oldp, Context *newp);
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void chSysSwitchI(Context *oldp, Context *newp);
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void threadstart(void);
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#endif /* _CHCORE_H_ */
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#endif /* _CHCORE_H_ */
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@ -19,6 +19,14 @@
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#include <avr/io.h>
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#include <avr/io.h>
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.global threadstart
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threadstart:
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sei
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movw r24, r4 // argument
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movw r30, r2 // thread function
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icall
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call chThdExit
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.global chSysSwitchI
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.global chSysSwitchI
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chSysSwitchI:
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chSysSwitchI:
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push r2
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push r2
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@ -113,4 +121,3 @@ noschd:
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pop r1
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pop r1
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pop r0
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pop r0
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reti
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reti
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