2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /* Kernel includes. */
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68 #include "FreeRTOS.h"
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71 #define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
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73 /* Supervisor mode set. */
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74 #define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 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 unsigned long ulCriticalNesting = 0x9999UL;
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80 /*-----------------------------------------------------------*/
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82 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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84 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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87 *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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90 /* Exception stack frame starts with the return address. */
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91 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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94 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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97 *pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
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98 pxTopOfStack -= 14; /* A5 to D0. */
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100 return pxTopOfStack;
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102 /*-----------------------------------------------------------*/
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104 portBASE_TYPE xPortStartScheduler( void )
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106 extern void vPortStartFirstTask( void );
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108 ulCriticalNesting = 0UL;
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110 /* Configure the interrupts used by this port. */
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111 vApplicationSetupInterrupts();
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113 /* Start the first task executing. */
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114 vPortStartFirstTask();
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118 /*-----------------------------------------------------------*/
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120 void vPortEndScheduler( void )
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122 /* Not implemented as there is nothing to return to. */
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124 /*-----------------------------------------------------------*/
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126 void vPortEnterCritical( void )
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128 if( ulCriticalNesting == 0UL )
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130 /* Guard against context switches being pended simultaneously with a
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131 critical section being entered. */
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134 portDISABLE_INTERRUPTS();
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135 if( MCF_INTC0_INTFRCL == 0UL )
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140 portENABLE_INTERRUPTS();
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144 ulCriticalNesting++;
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146 /*-----------------------------------------------------------*/
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148 void vPortExitCritical( void )
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150 ulCriticalNesting--;
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151 if( ulCriticalNesting == 0 )
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153 portENABLE_INTERRUPTS();
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156 /*-----------------------------------------------------------*/
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158 void vPortYieldHandler( void )
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160 unsigned long ulSavedInterruptMask;
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162 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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163 /* Note this will clear all forced interrupts - this is done for speed. */
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164 MCF_INTC0_INTFRCL = 0;
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165 vTaskSwitchContext();
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166 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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