2 FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 /* Kernel includes. */
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76 #include "FreeRTOS.h"
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80 #define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
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82 /* Supervisor mode set. */
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83 #define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
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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 unsigned long ulCriticalNesting = 0x9999UL;
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90 #define portSAVE_CONTEXT() \
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91 lea.l (-60, %sp), %sp; \
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92 movem.l %d0-%fp, (%sp); \
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93 move.l pxCurrentTCB, %a0; \
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96 #define portRESTORE_CONTEXT() \
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97 move.l pxCurrentTCB, %a0; \
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98 move.l (%a0), %sp; \
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99 movem.l (%sp), %d0-%fp; \
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100 lea.l %sp@(60), %sp; \
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105 /*-----------------------------------------------------------*/
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107 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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109 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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112 *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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115 /* Exception stack frame starts with the return address. */
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116 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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119 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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122 *pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
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123 pxTopOfStack -= 14; /* A5 to D0. */
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125 return pxTopOfStack;
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127 /*-----------------------------------------------------------*/
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129 portBASE_TYPE xPortStartScheduler( void )
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131 extern void vPortStartFirstTask( void );
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133 ulCriticalNesting = 0UL;
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135 /* Configure the interrupts used by this port. */
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136 vApplicationSetupInterrupts();
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138 /* Start the first task executing. */
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139 vPortStartFirstTask();
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143 /*-----------------------------------------------------------*/
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145 void vPortEndScheduler( void )
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147 /* Not implemented as there is nothing to return to. */
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149 /*-----------------------------------------------------------*/
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151 void vPortEnterCritical( void )
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153 if( ulCriticalNesting == 0UL )
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155 /* Guard against context switches being pended simultaneously with a
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156 critical section being entered. */
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159 portDISABLE_INTERRUPTS();
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160 if( MCF_INTC0_INTFRCH == 0UL )
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165 portENABLE_INTERRUPTS();
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169 ulCriticalNesting++;
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171 /*-----------------------------------------------------------*/
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173 void vPortExitCritical( void )
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175 ulCriticalNesting--;
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176 if( ulCriticalNesting == 0 )
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178 portENABLE_INTERRUPTS();
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181 /*-----------------------------------------------------------*/
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183 void vPortYieldHandler( void )
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185 unsigned long ulSavedInterruptMask;
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187 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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188 /* Note this will clear all forced interrupts - this is done for speed. */
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189 MCF_INTC0_INTFRCL = 0;
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190 vTaskSwitchContext();
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191 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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193 /*-----------------------------------------------------------*/
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