/* | |
FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* FreeRTOS tutorial books are available in pdf and paperback. * | |
* Complete, revised, and edited pdf reference manuals are also * | |
* available. * | |
* * | |
* Purchasing FreeRTOS documentation will not only help you, by * | |
* ensuring you get running as quickly as possible and with an * | |
* in-depth knowledge of how to use FreeRTOS, it will also help * | |
* the FreeRTOS project to continue with its mission of providing * | |
* professional grade, cross platform, de facto standard solutions * | |
* for microcontrollers - completely free of charge! * | |
* * | |
* >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
* * | |
* Thank you for using FreeRTOS, and thank you for your support! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
>>>NOTE<<< The modification to the GPL is included to allow you to | |
distribute a combined work that includes FreeRTOS without being obliged to | |
provide the source code for proprietary components outside of the FreeRTOS | |
kernel. FreeRTOS is distributed in the hope that it will be useful, but | |
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | |
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong? * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, training, latest information, | |
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 | |
the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also | |
provide a safety engineered and independently SIL3 certified version under | |
the SafeRTOS brand: http://www.SafeRTOS.com. | |
*/ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 ) | |
/* Supervisor mode set. */ | |
#define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000) | |
/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This | |
will be set to 0 prior to the first task being started. */ | |
static unsigned long ulCriticalNesting = 0x9999UL; | |
#define portSAVE_CONTEXT() \ | |
lea.l (-60, %sp), %sp; \ | |
movem.l %d0-%fp, (%sp); \ | |
move.l pxCurrentTCB, %a0; \ | |
move.l %sp, (%a0); | |
#define portRESTORE_CONTEXT() \ | |
move.l pxCurrentTCB, %a0; \ | |
move.l (%a0), %sp; \ | |
movem.l (%sp), %d0-%fp; \ | |
lea.l %sp@(60), %sp; \ | |
rte | |
/*-----------------------------------------------------------*/ | |
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
{ | |
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; | |
pxTopOfStack--; | |
*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF; | |
pxTopOfStack--; | |
/* Exception stack frame starts with the return address. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; | |
pxTopOfStack--; | |
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); | |
pxTopOfStack--; | |
*pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/ | |
pxTopOfStack -= 14; /* A5 to D0. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
extern void vPortStartFirstTask( void ); | |
ulCriticalNesting = 0UL; | |
/* Configure the interrupts used by this port. */ | |
vApplicationSetupInterrupts(); | |
/* Start the first task executing. */ | |
vPortStartFirstTask(); | |
return pdFALSE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Not implemented as there is nothing to return to. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEnterCritical( void ) | |
{ | |
if( ulCriticalNesting == 0UL ) | |
{ | |
/* Guard against context switches being pended simultaneously with a | |
critical section being entered. */ | |
do | |
{ | |
portDISABLE_INTERRUPTS(); | |
if( MCF_INTC0_INTFRCH == 0UL ) | |
{ | |
break; | |
} | |
portENABLE_INTERRUPTS(); | |
} while( 1 ); | |
} | |
ulCriticalNesting++; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortExitCritical( void ) | |
{ | |
ulCriticalNesting--; | |
if( ulCriticalNesting == 0 ) | |
{ | |
portENABLE_INTERRUPTS(); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortYieldHandler( void ) | |
{ | |
unsigned long ulSavedInterruptMask; | |
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
/* Note this will clear all forced interrupts - this is done for speed. */ | |
MCF_INTC0_INTFRCL = 0; | |
vTaskSwitchContext(); | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
} | |
/*-----------------------------------------------------------*/ | |