/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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. Full license text is available from the following | |
link: http://www.freertos.org/a00114.html | |
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, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and middleware. | |
http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
engineered and independently SIL3 certified version for use in safety and | |
mission critical applications that require provable dependability. | |
1 tab == 4 spaces! | |
*/ | |
#include "msp430.h" | |
#include "FreeRTOSConfig.h" | |
#include "data_model.h" | |
IMPORT xTaskIncrementTick | |
IMPORT vTaskSwitchContext | |
IMPORT vPortSetupTimerInterrupt | |
IMPORT pxCurrentTCB | |
IMPORT usCriticalNesting | |
EXPORT vPortTickISR | |
EXPORT vPortYield | |
EXPORT xPortStartScheduler | |
portSAVE_CONTEXT macro | |
/* Save the remaining registers. */ | |
pushm_x #12, r15 | |
mov.w &usCriticalNesting, r14 | |
push_x r14 | |
mov_x &pxCurrentTCB, r12 | |
mov_x sp, 0( r12 ) | |
endm | |
/*-----------------------------------------------------------*/ | |
portRESTORE_CONTEXT macro | |
mov_x &pxCurrentTCB, r12 | |
mov_x @r12, sp | |
pop_x r15 | |
mov.w r15, &usCriticalNesting | |
popm_x #12, r15 | |
pop.w sr | |
reta | |
endm | |
/*-----------------------------------------------------------*/ | |
/* | |
* The RTOS tick ISR. | |
* | |
* If the cooperative scheduler is in use this simply increments the tick | |
* count. | |
* | |
* If the preemptive scheduler is in use a context switch can also occur. | |
*/ | |
RSEG CODE | |
EVEN | |
vPortTickISR: | |
/* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs | |
to save it manually before it gets modified (interrupts get disabled). | |
Entering through this interrupt means the SR is already on the stack, but | |
this keeps the stack frames identical. */ | |
push.w sr | |
portSAVE_CONTEXT | |
calla #xTaskIncrementTick | |
cmp.w #0x0, R12 | |
jeq SkipContextSwitch | |
calla #vTaskSwitchContext | |
SkipContextSwitch: | |
portRESTORE_CONTEXT | |
/*-----------------------------------------------------------*/ | |
/* | |
* Manual context switch called by the portYIELD() macro. | |
*/ | |
EVEN | |
vPortYield: | |
/* The sr needs saving before it is modified. */ | |
push.w sr | |
/* Now the SR is stacked we can disable interrupts. */ | |
dint | |
nop | |
/* Save the context of the current task. */ | |
portSAVE_CONTEXT | |
/* Select the next task to run. */ | |
calla #vTaskSwitchContext | |
/* Restore the context of the new task. */ | |
portRESTORE_CONTEXT | |
/*-----------------------------------------------------------*/ | |
/* | |
* Start off the scheduler by initialising the RTOS tick timer, then restoring | |
* the context of the first task. | |
*/ | |
EVEN | |
xPortStartScheduler: | |
/* Setup the hardware to generate the tick. Interrupts are disabled | |
when this function is called. */ | |
calla #vPortSetupTimerInterrupt | |
/* Restore the context of the first task that is going to run. */ | |
portRESTORE_CONTEXT | |
/*-----------------------------------------------------------*/ | |
END | |