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 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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77 will be set to 0 prior to the first task being started. */
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78 static uint32_t ulCriticalNesting = 0x9999UL;
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81 #define portSAVE_CONTEXT() \
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82 lea.l (-60, %sp), %sp; \
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83 movem.l %d0-%fp, (%sp); \
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84 move.l pxCurrentTCB, %a0; \
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87 #define portRESTORE_CONTEXT() \
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88 move.l pxCurrentTCB, %a0; \
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89 move.l (%a0), %sp; \
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90 movem.l (%sp), %d0-%fp; \
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91 lea.l %sp@(60), %sp; \
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96 /*-----------------------------------------------------------*/
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98 StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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100 *pxTopOfStack = ( StackType_t ) pvParameters;
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103 *pxTopOfStack = (StackType_t) 0xDEADBEEF;
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106 /* Exception stack frame starts with the return address. */
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107 *pxTopOfStack = ( StackType_t ) pxCode;
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110 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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113 *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
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114 pxTopOfStack -= 14; /* A5 to D0. */
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116 return pxTopOfStack;
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118 /*-----------------------------------------------------------*/
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120 BaseType_t xPortStartScheduler( void )
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122 extern void vPortStartFirstTask( void );
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124 ulCriticalNesting = 0UL;
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126 /* Configure the interrupts used by this port. */
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127 vApplicationSetupInterrupts();
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129 /* Start the first task executing. */
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130 vPortStartFirstTask();
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134 /*-----------------------------------------------------------*/
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136 void vPortEndScheduler( void )
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138 /* Not implemented as there is nothing to return to. */
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140 /*-----------------------------------------------------------*/
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142 void vPortEnterCritical( void )
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144 if( ulCriticalNesting == 0UL )
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146 /* Guard against context switches being pended simultaneously with a
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147 critical section being entered. */
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150 portDISABLE_INTERRUPTS();
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151 if( MCF_INTC0_INTFRCH == 0UL )
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156 portENABLE_INTERRUPTS();
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160 ulCriticalNesting++;
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162 /*-----------------------------------------------------------*/
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164 void vPortExitCritical( void )
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166 ulCriticalNesting--;
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167 if( ulCriticalNesting == 0 )
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169 portENABLE_INTERRUPTS();
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172 /*-----------------------------------------------------------*/
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174 void vPortYieldHandler( void )
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176 uint32_t ulSavedInterruptMask;
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178 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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179 /* Note this will clear all forced interrupts - this is done for speed. */
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180 MCF_INTC0_INTFRCL = 0;
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181 vTaskSwitchContext();
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182 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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184 /*-----------------------------------------------------------*/
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