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 /* Kernel includes. */
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76 #include "FreeRTOS.h"
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80 #define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
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82 /* Supervisor mode set. */
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83 #define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
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85 /* The clock prescale into the timer peripheral. */
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86 #define portPRESCALE_VALUE ( ( unsigned char ) 10 )
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88 /* The clock frequency into the RTC. */
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89 #define portRTC_CLOCK_HZ ( ( unsigned long ) 1000 )
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91 asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
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92 static void prvSetupTimerInterrupt( void );
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94 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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95 will be set to 0 prior to the first task being started. */
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96 static unsigned long ulCriticalNesting = 0x9999UL;
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98 /*-----------------------------------------------------------*/
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100 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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103 unsigned long ulOriginalA5;
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105 __asm{ MOVE.L A5, ulOriginalA5 };
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108 *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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111 /* Exception stack frame starts with the return address. */
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112 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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115 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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118 *pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
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119 pxTopOfStack -= 14; /* A5 to D0. */
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121 /* Parameter in A0. */
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122 *( pxTopOfStack + 8 ) = ( portSTACK_TYPE ) pvParameters;
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124 /* A5 must be maintained as it is resurved by the compiler. */
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125 *( pxTopOfStack + 13 ) = ulOriginalA5;
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127 return pxTopOfStack;
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129 /*-----------------------------------------------------------*/
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131 portBASE_TYPE xPortStartScheduler( void )
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133 extern void vPortStartFirstTask( void );
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135 ulCriticalNesting = 0UL;
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137 /* Configure a timer to generate the tick interrupt. */
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138 prvSetupTimerInterrupt();
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140 /* Start the first task executing. */
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141 vPortStartFirstTask();
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145 /*-----------------------------------------------------------*/
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147 static void prvSetupTimerInterrupt( void )
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149 /* Prescale by 1 - ie no prescale. */
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152 /* Compare match value. */
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153 RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
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155 /* Enable the RTC to generate interrupts - interrupts are already disabled
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156 when this code executes. */
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159 /*-----------------------------------------------------------*/
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161 void vPortEndScheduler( void )
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163 /* Not implemented as there is nothing to return to. */
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165 /*-----------------------------------------------------------*/
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167 void vPortEnterCritical( void )
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169 if( ulCriticalNesting == 0UL )
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171 /* Guard against context switches being pended simultaneously with a
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172 critical section being entered. */
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175 portDISABLE_INTERRUPTS();
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176 if( INTC_FRC == 0UL )
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181 portENABLE_INTERRUPTS();
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185 ulCriticalNesting++;
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187 /*-----------------------------------------------------------*/
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189 void vPortExitCritical( void )
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191 ulCriticalNesting--;
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192 if( ulCriticalNesting == 0 )
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194 portENABLE_INTERRUPTS();
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197 /*-----------------------------------------------------------*/
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199 void vPortYieldHandler( void )
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201 unsigned long ulSavedInterruptMask;
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203 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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205 /* Note this will clear all forced interrupts - this is done for speed. */
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207 vTaskSwitchContext();
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209 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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211 /*-----------------------------------------------------------*/
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213 void interrupt VectorNumber_Vrtc vPortTickISR( void )
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215 unsigned long ulSavedInterruptMask;
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217 /* Clear the interrupt. */
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218 RTCSC |= RTCSC_RTIF_MASK;
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220 /* Increment the RTOS tick. */
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221 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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223 vTaskIncrementTick();
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225 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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227 /* If we are using the pre-emptive scheduler then also request a
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228 context switch as incrementing the tick could have unblocked a task. */
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229 #if configUSE_PREEMPTION == 1
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