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 "PriorityDefinitions.h"
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77 PUBLIC _prvStartFirstTask
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78 PUBLIC ___interrupt_27
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80 EXTERN _pxCurrentTCB
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81 EXTERN _vTaskSwitchContext
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87 /* When starting the scheduler there is nothing that needs moving to the
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88 interrupt stack because the function is not called from an interrupt.
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89 Just ensure the current stack is the user stack. */
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92 /* Obtain the location of the stack associated with which ever task
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93 pxCurrentTCB is currently pointing to. */
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94 MOV.L #_pxCurrentTCB, R15
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98 /* Restore the registers from the stack of the task pointed to by
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102 /* Accumulator low 32 bits. */
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106 /* Accumulator high 32 bits. */
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109 /* R1 to R15 - R0 is not included as it is the SP. */
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112 /* This pops the remaining registers. */
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117 /*-----------------------------------------------------------*/
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119 /* The software interrupt - overwrite the default 'weak' definition. */
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122 /* Re-enable interrupts. */
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125 /* Move the data that was automatically pushed onto the interrupt stack when
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126 the interrupt occurred from the interrupt stack to the user stack.
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128 R15 is saved before it is clobbered. */
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131 /* Read the user stack pointer. */
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134 /* Move the address down to the data being moved. */
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138 /* Copy the data across, R15, then PC, then PSW. */
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139 MOV.L [ R0 ], [ R15 ]
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140 MOV.L 4[ R0 ], 4[ R15 ]
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141 MOV.L 8[ R0 ], 8[ R15 ]
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143 /* Move the interrupt stack pointer to its new correct position. */
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146 /* All the rest of the registers are saved directly to the user stack. */
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149 /* Save the rest of the general registers (R15 has been saved already). */
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152 /* Save the accumulator. */
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159 /* Shifted left as it is restored to the low order word. */
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163 /* Save the stack pointer to the TCB. */
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164 MOV.L #_pxCurrentTCB, R15
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168 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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169 structures are being accessed. */
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170 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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172 /* Select the next task to run. */
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173 BSR.A _vTaskSwitchContext
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175 /* Reset the interrupt mask as no more data structure access is required. */
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176 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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178 /* Load the stack pointer of the task that is now selected as the Running
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179 state task from its TCB. */
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180 MOV.L #_pxCurrentTCB,R15
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184 /* Restore the context of the new task. The PSW (Program Status Word) and
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185 PC will be popped by the RTE instruction. */
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195 /*-----------------------------------------------------------*/
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