2 FreeRTOS V9.0.0 - 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 /*-----------------------------------------------------------
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71 * Implementation of functions defined in portable.h for the SH2A port.
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72 *----------------------------------------------------------*/
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74 /* Scheduler includes. */
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75 #include "FreeRTOS.h"
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78 /* Library includes. */
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81 /* Hardware specifics. */
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82 #include <machine.h>
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84 /*-----------------------------------------------------------*/
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86 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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87 PSW is set with U and I set, and PM and IPL clear. */
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88 #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )
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89 #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )
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91 /*-----------------------------------------------------------*/
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94 * Function to start the first task executing - written in asm code as direct
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95 * access to registers is required.
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97 extern void prvStartFirstTask( void );
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100 * The tick ISR handler. The peripheral used is configured by the application
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101 * via a hook/callback function.
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103 __interrupt void vTickISR( void );
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105 /*-----------------------------------------------------------*/
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107 extern void *pxCurrentTCB;
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109 /*-----------------------------------------------------------*/
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112 * See header file for description.
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114 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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116 /* R0 is not included as it is the stack pointer. */
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118 *pxTopOfStack = 0x00;
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120 *pxTopOfStack = portINITIAL_PSW;
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122 *pxTopOfStack = ( StackType_t ) pxCode;
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124 /* When debugging it can be useful if every register is set to a known
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125 value. Otherwise code space can be saved by just setting the registers
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126 that need to be set. */
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127 #ifdef USE_FULL_REGISTER_INITIALISATION
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130 *pxTopOfStack = 0xffffffff; /* r15. */
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132 *pxTopOfStack = 0xeeeeeeee;
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134 *pxTopOfStack = 0xdddddddd;
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136 *pxTopOfStack = 0xcccccccc;
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138 *pxTopOfStack = 0xbbbbbbbb;
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140 *pxTopOfStack = 0xaaaaaaaa;
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142 *pxTopOfStack = 0x99999999;
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144 *pxTopOfStack = 0x88888888;
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146 *pxTopOfStack = 0x77777777;
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148 *pxTopOfStack = 0x66666666;
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150 *pxTopOfStack = 0x55555555;
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152 *pxTopOfStack = 0x44444444;
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154 *pxTopOfStack = 0x33333333;
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156 *pxTopOfStack = 0x22222222;
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161 pxTopOfStack -= 15;
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165 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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167 *pxTopOfStack = portINITIAL_FPSW;
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169 *pxTopOfStack = 0x11111111; /* Accumulator 0. */
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171 *pxTopOfStack = 0x22222222; /* Accumulator 0. */
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173 *pxTopOfStack = 0x33333333; /* Accumulator 0. */
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175 *pxTopOfStack = 0x44444444; /* Accumulator 1. */
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177 *pxTopOfStack = 0x55555555; /* Accumulator 1. */
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179 *pxTopOfStack = 0x66666666; /* Accumulator 1. */
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181 return pxTopOfStack;
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183 /*-----------------------------------------------------------*/
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185 BaseType_t xPortStartScheduler( void )
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187 extern void vApplicationSetupTimerInterrupt( void );
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189 /* Use pxCurrentTCB just so it does not get optimised away. */
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190 if( pxCurrentTCB != NULL )
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192 /* Call an application function to set up the timer that will generate the
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193 tick interrupt. This way the application can decide which peripheral to
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194 use. A demo application is provided to show a suitable example. */
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195 vApplicationSetupTimerInterrupt();
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197 /* Enable the software interrupt. */
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198 _IEN( _ICU_SWINT ) = 1;
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200 /* Ensure the software interrupt is clear. */
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201 _IR( _ICU_SWINT ) = 0;
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203 /* Ensure the software interrupt is set to the kernel priority. */
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204 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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206 /* Start the first task. */
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207 prvStartFirstTask();
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210 /* Should not get here. */
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213 /*-----------------------------------------------------------*/
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215 #pragma vector = configTICK_VECTOR
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216 __interrupt void vTickISR( void )
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218 /* Re-enable interrupts. */
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219 __enable_interrupt();
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221 /* Increment the tick, and perform any processing the new tick value
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223 __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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225 if( xTaskIncrementTick() != pdFALSE )
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230 __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY );
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232 /*-----------------------------------------------------------*/
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234 void vPortEndScheduler( void )
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236 /* Not implemented in ports where there is nothing to return to.
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237 Artificially force an assert. */
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238 configASSERT( pxCurrentTCB == NULL );
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240 /*-----------------------------------------------------------*/
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