2 FreeRTOS V7.4.1 - 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 #include "FreeRTOSConfig.h"
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76 #include "data_model.h"
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78 IMPORT vTaskIncrementTick
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79 IMPORT vTaskSwitchContext
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80 IMPORT vPortSetupTimerInterrupt
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82 IMPORT usCriticalNesting
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86 EXPORT xPortStartScheduler
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88 portSAVE_CONTEXT macro
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90 /* Save the remaining registers. */
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92 mov.w &usCriticalNesting, r14
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94 mov_x &pxCurrentTCB, r12
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97 /*-----------------------------------------------------------*/
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99 portRESTORE_CONTEXT macro
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101 mov_x &pxCurrentTCB, r12
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104 mov.w r15, &usCriticalNesting
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109 /*-----------------------------------------------------------*/
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113 * The RTOS tick ISR.
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115 * If the cooperative scheduler is in use this simply increments the tick
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118 * If the preemptive scheduler is in use a context switch can also occur.
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126 /* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs
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127 to save it manually before it gets modified (interrupts get disabled).
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128 Entering through this interrupt means the SR is already on the stack, but
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129 this keeps the stack frames identical. */
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133 calla #vTaskIncrementTick
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135 #if configUSE_PREEMPTION == 1
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136 calla #vTaskSwitchContext
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139 portRESTORE_CONTEXT
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140 /*-----------------------------------------------------------*/
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143 * Manual context switch called by the portYIELD() macro.
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149 /* The sr needs saving before it is modified. */
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152 /* Now the SR is stacked we can disable interrupts. */
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156 /* Save the context of the current task. */
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159 /* Select the next task to run. */
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160 calla #vTaskSwitchContext
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162 /* Restore the context of the new task. */
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163 portRESTORE_CONTEXT
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164 /*-----------------------------------------------------------*/
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168 * Start off the scheduler by initialising the RTOS tick timer, then restoring
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169 * the context of the first task.
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173 xPortStartScheduler:
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175 /* Setup the hardware to generate the tick. Interrupts are disabled
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176 when this function is called. */
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177 calla #vPortSetupTimerInterrupt
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179 /* Restore the context of the first task that is going to run. */
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180 portRESTORE_CONTEXT
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181 /*-----------------------------------------------------------*/
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