2 FreeRTOS V9.0.0rc1 - Copyright (C) 2016 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 #include "FreeRTOSConfig.h"
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71 #include "data_model.h"
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73 IMPORT xTaskIncrementTick
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74 IMPORT vTaskSwitchContext
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75 IMPORT vPortSetupTimerInterrupt
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77 IMPORT usCriticalNesting
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81 EXPORT xPortStartScheduler
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83 portSAVE_CONTEXT macro
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85 /* Save the remaining registers. */
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87 mov.w &usCriticalNesting, r14
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89 mov_x &pxCurrentTCB, r12
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92 /*-----------------------------------------------------------*/
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94 portRESTORE_CONTEXT macro
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96 mov_x &pxCurrentTCB, r12
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99 mov.w r15, &usCriticalNesting
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106 /*-----------------------------------------------------------*/
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110 * The RTOS tick ISR.
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112 * If the cooperative scheduler is in use this simply increments the tick
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115 * If the preemptive scheduler is in use a context switch can also occur.
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123 /* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs
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124 to save it manually before it gets modified (interrupts get disabled).
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125 Entering through this interrupt means the SR is already on the stack, but
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126 this keeps the stack frames identical. */
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130 calla #xTaskIncrementTick
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132 jeq SkipContextSwitch
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133 calla #vTaskSwitchContext
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135 portRESTORE_CONTEXT
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136 /*-----------------------------------------------------------*/
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139 * Manual context switch called by the portYIELD() macro.
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145 /* The sr needs saving before it is modified. */
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148 /* Now the SR is stacked interrupts can be disabled. */
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152 /* Save the context of the current task. */
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155 /* Select the next task to run. */
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156 calla #vTaskSwitchContext
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158 /* Restore the context of the new task. */
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159 portRESTORE_CONTEXT
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160 /*-----------------------------------------------------------*/
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164 * Start off the scheduler by initialising the RTOS tick timer, then restoring
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165 * the context of the first task.
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169 xPortStartScheduler:
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171 /* Setup the hardware to generate the tick. Interrupts are disabled
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172 when this function is called. */
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173 calla #vPortSetupTimerInterrupt
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175 /* Restore the context of the first task that is going to run. */
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176 portRESTORE_CONTEXT
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177 /*-----------------------------------------------------------*/
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