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rtos on demo9s12xep100 (HCS12x) stack problem

Posted by Andrea Mantovani on September 7, 2010
hi all,
I've ported the freertos demo for HCS12 banked mode to the demo board DEMO9S12XEP100.
The code crashes at the instruction
__asm( "rti" );
inside function xBankedStartScheduler().

I found a funny thing that is:
"rti" instruction is declared to behave as:

(M(SP)) ⇒ CCR; (SP) + $0001 ⇒ SP
(M(SP) : M(SP+1)) ⇒ B : A; (SP) + $0002 ⇒ SP
(M(SP) : M(SP+1)) ⇒ XH : XL; (SP) + $0004 ⇒ SP
(M(SP) : M(SP+1)) ⇒ PCH : PCL; (SP) + $0002 ⇒ SP
(M(SP) : M(SP+1)) ⇒ YH : YL; (SP) + $0004 ⇒ SP

the Freertos function pxPortInitialiseStack() saves info in stack as specified above BUT once I execute the "rti"I I found that register values are wrong and application crashes.
I found that "rti" increments SP by 1 (SP+1 ) BEFORE doing what is declared !
I modified the pxPortInitialiseStack() in order to add a dummy byte in stack and everithing works !.
Find below the modified code for pxPortInitialiseStack():

portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
/*
Place a few bytes of known values on the bottom of the stack.
This can be uncommented to provide useful stack markers when debugging.

*pxTopOfStack = ( portSTACK_TYPE ) 0x11;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x22;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0x33;
pxTopOfStack--;
*/



/* Setup the initial stack of the task. The stack is set exactly as
expected by the portRESTORE_CONTEXT() macro. In this case the stack as
expected by the HCS12 RTI instruction. */


/* The address of the task function is placed in the stack byte at a time. */
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 1 );
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pxCode) ) + 0 );
pxTopOfStack--;

/* Next are all the registers that form part of the task context. */

/* Y register */
*pxTopOfStack = ( portSTACK_TYPE ) 0xff;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xee;
pxTopOfStack--;

/* X register */
*pxTopOfStack = ( portSTACK_TYPE ) 0xdd;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xcc;
pxTopOfStack--;

/* A register contains parameter high byte. */
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 0 );
pxTopOfStack--;

/* B register contains parameter low byte. */
*pxTopOfStack = ( portSTACK_TYPE ) *( ((portSTACK_TYPE *) (&pvParameters) ) + 1 );
pxTopOfStack--;

/* CCR: Note that when the task starts interrupts will be enabled since
"I" bit of CCR is cleared */
*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
pxTopOfStack--;

/* WARNING: Mantovani: Added dummy byte cause RTI assembler instruction seems to be buged !!!! */
*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
pxTopOfStack--;


#ifdef BANKED_MODEL
/* The page of the task. */
*pxTopOfStack = ( portSTACK_TYPE ) ( ( int ) pxCode );
pxTopOfStack--;
#endif

/* Finally the critical nesting depth is initialised with 0 (not within
a critical section). */
*pxTopOfStack = ( portSTACK_TYPE ) 0x00;

return pxTopOfStack;
}

It doesn't seem a memory alignement issue rather that an "rti" hw implementation bug.
Is it possible or I'm doing something wrong ?

All suggestions are welcome.
Thanks
Andrea

RE: rtos on demo9s12xep100 (HCS12x) stack problem

Posted by Andrea Mantovani on September 7, 2010
sorry,
found solution on forum:
The HCS12X has 2bytes CCR register and "rti" instruction behave like this:

(M(SP) : M(SP+1)) ⇒ CCRH : CCRL; (SP) + $0002 ⇒ SP
(M(SP) : M(SP+1)) ⇒ B : A; (SP) + $0002 ⇒ SP
(M(SP) : M(SP+1)) ⇒ XH : XL; (SP) + $0004 ⇒ SP
(M(SP) : M(SP+1)) ⇒ PCH : PCL; (SP) – $0002 ⇒ SP
(M(SP) : M(SP+1)) ⇒ YH : YL; (SP) + $0004 ⇒ SP

Will the RTOSDemo be updated for freescale CPU12X ?
Thanks
Andrea


RE: rtos on demo9s12xep100 (HCS12x) stack problem

Posted by Richard on September 7, 2010
Maybe one day - but I can say for sure it won't be any time soon - sorry.

If you update it, or find working code, you would be good enough to add it to the FreeRTOS Interactive site? http://interactive.freertos.org

Regards.

RE: rtos on demo9s12xep100 (HCS12x) stack problem

Posted by Andrea Mantovani on September 8, 2010
I found that porting for HCS12X was already uploaded.
I didn't find it before.
Thanks a lot.


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