2 FreeRTOS V8.2.0 - Copyright (C) 2015 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 /* Kernel includes. */
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71 #include "FreeRTOS.h"
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75 #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 )
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77 /* Supervisor mode set. */
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78 #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000)
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80 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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81 will be set to 0 prior to the first task being started. */
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82 static uint32_t ulCriticalNesting = 0x9999UL;
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85 #define portSAVE_CONTEXT() \
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86 lea.l (-60, %sp), %sp; \
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87 movem.l %d0-%fp, (%sp); \
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88 move.l pxCurrentTCB, %a0; \
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91 #define portRESTORE_CONTEXT() \
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92 move.l pxCurrentTCB, %a0; \
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93 move.l (%a0), %sp; \
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94 movem.l (%sp), %d0-%fp; \
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95 lea.l %sp@(60), %sp; \
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100 /*-----------------------------------------------------------*/
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102 StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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104 *pxTopOfStack = ( StackType_t ) pvParameters;
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107 *pxTopOfStack = (StackType_t) 0xDEADBEEF;
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110 /* Exception stack frame starts with the return address. */
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111 *pxTopOfStack = ( StackType_t ) pxCode;
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114 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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117 *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
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118 pxTopOfStack -= 14; /* A5 to D0. */
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120 return pxTopOfStack;
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122 /*-----------------------------------------------------------*/
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124 BaseType_t xPortStartScheduler( void )
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126 extern void vPortStartFirstTask( void );
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128 ulCriticalNesting = 0UL;
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130 /* Configure the interrupts used by this port. */
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131 vApplicationSetupInterrupts();
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133 /* Start the first task executing. */
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134 vPortStartFirstTask();
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138 /*-----------------------------------------------------------*/
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140 void vPortEndScheduler( void )
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142 /* Not implemented as there is nothing to return to. */
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144 /*-----------------------------------------------------------*/
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146 void vPortEnterCritical( void )
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148 if( ulCriticalNesting == 0UL )
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150 /* Guard against context switches being pended simultaneously with a
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151 critical section being entered. */
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154 portDISABLE_INTERRUPTS();
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155 if( MCF_INTC0_INTFRCH == 0UL )
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160 portENABLE_INTERRUPTS();
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164 ulCriticalNesting++;
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166 /*-----------------------------------------------------------*/
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168 void vPortExitCritical( void )
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170 ulCriticalNesting--;
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171 if( ulCriticalNesting == 0 )
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173 portENABLE_INTERRUPTS();
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176 /*-----------------------------------------------------------*/
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178 void vPortYieldHandler( void )
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180 uint32_t ulSavedInterruptMask;
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182 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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183 /* Note this will clear all forced interrupts - this is done for speed. */
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184 MCF_INTC0_INTFRCL = 0;
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185 vTaskSwitchContext();
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186 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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188 /*-----------------------------------------------------------*/
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