2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
\r
5 ***************************************************************************
\r
7 * FreeRTOS tutorial books are available in pdf and paperback. *
\r
8 * Complete, revised, and edited pdf reference manuals are also *
\r
11 * Purchasing FreeRTOS documentation will not only help you, by *
\r
12 * ensuring you get running as quickly as possible and with an *
\r
13 * in-depth knowledge of how to use FreeRTOS, it will also help *
\r
14 * the FreeRTOS project to continue with its mission of providing *
\r
15 * professional grade, cross platform, de facto standard solutions *
\r
16 * for microcontrollers - completely free of charge! *
\r
18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
\r
20 * Thank you for using FreeRTOS, and thank you for your support! *
\r
22 ***************************************************************************
\r
25 This file is part of the FreeRTOS distribution.
\r
27 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
28 the terms of the GNU General Public License (version 2) as published by the
\r
29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
\r
30 >>>NOTE<<< The modification to the GPL is included to allow you to
\r
31 distribute a combined work that includes FreeRTOS without being obliged to
\r
32 provide the source code for proprietary components outside of the FreeRTOS
\r
33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
\r
34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
\r
35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
\r
36 more details. You should have received a copy of the GNU General Public
\r
37 License and the FreeRTOS license exception along with FreeRTOS; if not it
\r
38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
\r
39 by writing to Richard Barry, contact details for whom are available on the
\r
44 ***************************************************************************
\r
46 * Having a problem? Start by reading the FAQ "My application does *
\r
47 * not run, what could be wrong? *
\r
49 * http://www.FreeRTOS.org/FAQHelp.html *
\r
51 ***************************************************************************
\r
54 http://www.FreeRTOS.org - Documentation, training, latest information,
\r
55 license and contact details.
\r
57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
58 including FreeRTOS+Trace - an indispensable productivity tool.
\r
60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
\r
61 the code with commercial support, indemnification, and middleware, under
\r
62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
\r
63 provide a safety engineered and independently SIL3 certified version under
\r
64 the SafeRTOS brand: http://www.SafeRTOS.com.
\r
67 /* Kernel includes. */
\r
68 #include "FreeRTOS.h"
\r
72 #define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
\r
74 /* Supervisor mode set. */
\r
75 #define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
\r
77 /* The clock prescale into the timer peripheral. */
\r
78 #define portPRESCALE_VALUE ( ( unsigned char ) 10 )
\r
80 /* The clock frequency into the RTC. */
\r
81 #define portRTC_CLOCK_HZ ( ( unsigned long ) 1000 )
\r
83 asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
\r
84 static void prvSetupTimerInterrupt( void );
\r
86 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
\r
87 will be set to 0 prior to the first task being started. */
\r
88 static unsigned long ulCriticalNesting = 0x9999UL;
\r
90 /*-----------------------------------------------------------*/
\r
92 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
\r
95 unsigned long ulOriginalA5;
\r
97 __asm{ MOVE.L A5, ulOriginalA5 };
\r
100 *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
\r
103 /* Exception stack frame starts with the return address. */
\r
104 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
\r
107 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
\r
110 *pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
\r
111 pxTopOfStack -= 14; /* A5 to D0. */
\r
113 /* Parameter in A0. */
\r
114 *( pxTopOfStack + 8 ) = ( portSTACK_TYPE ) pvParameters;
\r
116 /* A5 must be maintained as it is resurved by the compiler. */
\r
117 *( pxTopOfStack + 13 ) = ulOriginalA5;
\r
119 return pxTopOfStack;
\r
121 /*-----------------------------------------------------------*/
\r
123 portBASE_TYPE xPortStartScheduler( void )
\r
125 extern void vPortStartFirstTask( void );
\r
127 ulCriticalNesting = 0UL;
\r
129 /* Configure a timer to generate the tick interrupt. */
\r
130 prvSetupTimerInterrupt();
\r
132 /* Start the first task executing. */
\r
133 vPortStartFirstTask();
\r
137 /*-----------------------------------------------------------*/
\r
139 static void prvSetupTimerInterrupt( void )
\r
141 /* Prescale by 1 - ie no prescale. */
\r
144 /* Compare match value. */
\r
145 RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
\r
147 /* Enable the RTC to generate interrupts - interrupts are already disabled
\r
148 when this code executes. */
\r
151 /*-----------------------------------------------------------*/
\r
153 void vPortEndScheduler( void )
\r
155 /* Not implemented as there is nothing to return to. */
\r
157 /*-----------------------------------------------------------*/
\r
159 void vPortEnterCritical( void )
\r
161 if( ulCriticalNesting == 0UL )
\r
163 /* Guard against context switches being pended simultaneously with a
\r
164 critical section being entered. */
\r
167 portDISABLE_INTERRUPTS();
\r
168 if( INTC_FRC == 0UL )
\r
173 portENABLE_INTERRUPTS();
\r
177 ulCriticalNesting++;
\r
179 /*-----------------------------------------------------------*/
\r
181 void vPortExitCritical( void )
\r
183 ulCriticalNesting--;
\r
184 if( ulCriticalNesting == 0 )
\r
186 portENABLE_INTERRUPTS();
\r
189 /*-----------------------------------------------------------*/
\r
191 void vPortYieldHandler( void )
\r
193 unsigned long ulSavedInterruptMask;
\r
195 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
\r
197 /* Note this will clear all forced interrupts - this is done for speed. */
\r
199 vTaskSwitchContext();
\r
201 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
\r
203 /*-----------------------------------------------------------*/
\r
205 void interrupt VectorNumber_Vrtc vPortTickISR( void )
\r
207 unsigned long ulSavedInterruptMask;
\r
209 /* Clear the interrupt. */
\r
210 RTCSC |= RTCSC_RTIF_MASK;
\r
212 /* Increment the RTOS tick. */
\r
213 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
\r
215 vTaskIncrementTick();
\r
217 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
\r
219 /* If we are using the pre-emptive scheduler then also request a
\r
220 context switch as incrementing the tick could have unblocked a task. */
\r
221 #if configUSE_PREEMPTION == 1
\r