2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* Kernel includes. */
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67 #include "FreeRTOS.h"
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71 #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 )
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73 /* Supervisor mode set. */
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74 #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000)
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76 /* The clock prescale into the timer peripheral. */
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77 #define portPRESCALE_VALUE ( ( uint8_t ) 10 )
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79 /* The clock frequency into the RTC. */
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80 #define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 )
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82 asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
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83 static void prvSetupTimerInterrupt( void );
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85 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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86 will be set to 0 prior to the first task being started. */
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87 static uint32_t ulCriticalNesting = 0x9999UL;
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89 /*-----------------------------------------------------------*/
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91 StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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94 uint32_t ulOriginalA5;
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96 __asm{ MOVE.L A5, ulOriginalA5 };
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99 *pxTopOfStack = (StackType_t) 0xDEADBEEF;
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102 /* Exception stack frame starts with the return address. */
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103 *pxTopOfStack = ( StackType_t ) pxCode;
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106 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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109 *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
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110 pxTopOfStack -= 14; /* A5 to D0. */
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112 /* Parameter in A0. */
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113 *( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters;
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115 /* A5 must be maintained as it is resurved by the compiler. */
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116 *( pxTopOfStack + 13 ) = ulOriginalA5;
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118 return pxTopOfStack;
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120 /*-----------------------------------------------------------*/
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122 BaseType_t xPortStartScheduler( void )
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124 extern void vPortStartFirstTask( void );
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126 ulCriticalNesting = 0UL;
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128 /* Configure a timer to generate the tick interrupt. */
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129 prvSetupTimerInterrupt();
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131 /* Start the first task executing. */
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132 vPortStartFirstTask();
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136 /*-----------------------------------------------------------*/
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138 static void prvSetupTimerInterrupt( void )
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140 /* Prescale by 1 - ie no prescale. */
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143 /* Compare match value. */
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144 RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
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146 /* Enable the RTC to generate interrupts - interrupts are already disabled
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147 when this code executes. */
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150 /*-----------------------------------------------------------*/
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152 void vPortEndScheduler( void )
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154 /* Not implemented as there is nothing to return to. */
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156 /*-----------------------------------------------------------*/
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158 void vPortEnterCritical( void )
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160 if( ulCriticalNesting == 0UL )
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162 /* Guard against context switches being pended simultaneously with a
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163 critical section being entered. */
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166 portDISABLE_INTERRUPTS();
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167 if( INTC_FRC == 0UL )
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172 portENABLE_INTERRUPTS();
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176 ulCriticalNesting++;
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178 /*-----------------------------------------------------------*/
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180 void vPortExitCritical( void )
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182 ulCriticalNesting--;
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183 if( ulCriticalNesting == 0 )
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185 portENABLE_INTERRUPTS();
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188 /*-----------------------------------------------------------*/
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190 void vPortYieldHandler( void )
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192 uint32_t ulSavedInterruptMask;
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194 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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196 /* Note this will clear all forced interrupts - this is done for speed. */
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198 vTaskSwitchContext();
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200 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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202 /*-----------------------------------------------------------*/
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204 void interrupt VectorNumber_Vrtc vPortTickISR( void )
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206 uint32_t ulSavedInterruptMask;
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208 /* Clear the interrupt. */
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209 RTCSC |= RTCSC_RTIF_MASK;
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211 /* Increment the RTOS tick. */
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212 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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214 if( xTaskIncrementTick() != pdFALSE )
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219 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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