2 FreeRTOS V8.2.3 - Copyright (C) 2015 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 /* Kernel includes. */
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71 #include "FreeRTOS.h"
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75 #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 )
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77 /* Supervisor mode set. */
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78 #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 0x2000)
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80 /* The clock prescale into the timer peripheral. */
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81 #define portPRESCALE_VALUE ( ( uint8_t ) 10 )
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83 /* The clock frequency into the RTC. */
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84 #define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 )
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86 asm void interrupt VectorNumber_VL1swi vPortYieldISR( void );
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87 static void prvSetupTimerInterrupt( void );
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89 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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90 will be set to 0 prior to the first task being started. */
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91 static uint32_t ulCriticalNesting = 0x9999UL;
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93 /*-----------------------------------------------------------*/
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95 StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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98 uint32_t ulOriginalA5;
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100 __asm{ MOVE.L A5, ulOriginalA5 };
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103 *pxTopOfStack = (StackType_t) 0xDEADBEEF;
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106 /* Exception stack frame starts with the return address. */
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107 *pxTopOfStack = ( StackType_t ) pxCode;
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110 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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113 *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/
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114 pxTopOfStack -= 14; /* A5 to D0. */
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116 /* Parameter in A0. */
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117 *( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters;
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119 /* A5 must be maintained as it is resurved by the compiler. */
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120 *( pxTopOfStack + 13 ) = ulOriginalA5;
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122 return pxTopOfStack;
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124 /*-----------------------------------------------------------*/
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126 BaseType_t xPortStartScheduler( void )
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128 extern void vPortStartFirstTask( void );
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130 ulCriticalNesting = 0UL;
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132 /* Configure a timer to generate the tick interrupt. */
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133 prvSetupTimerInterrupt();
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135 /* Start the first task executing. */
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136 vPortStartFirstTask();
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140 /*-----------------------------------------------------------*/
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142 static void prvSetupTimerInterrupt( void )
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144 /* Prescale by 1 - ie no prescale. */
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147 /* Compare match value. */
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148 RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ;
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150 /* Enable the RTC to generate interrupts - interrupts are already disabled
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151 when this code executes. */
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154 /*-----------------------------------------------------------*/
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156 void vPortEndScheduler( void )
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158 /* Not implemented as there is nothing to return to. */
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160 /*-----------------------------------------------------------*/
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162 void vPortEnterCritical( void )
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164 if( ulCriticalNesting == 0UL )
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166 /* Guard against context switches being pended simultaneously with a
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167 critical section being entered. */
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170 portDISABLE_INTERRUPTS();
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171 if( INTC_FRC == 0UL )
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176 portENABLE_INTERRUPTS();
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180 ulCriticalNesting++;
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182 /*-----------------------------------------------------------*/
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184 void vPortExitCritical( void )
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186 ulCriticalNesting--;
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187 if( ulCriticalNesting == 0 )
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189 portENABLE_INTERRUPTS();
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192 /*-----------------------------------------------------------*/
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194 void vPortYieldHandler( void )
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196 uint32_t ulSavedInterruptMask;
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198 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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200 /* Note this will clear all forced interrupts - this is done for speed. */
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202 vTaskSwitchContext();
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204 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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206 /*-----------------------------------------------------------*/
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208 void interrupt VectorNumber_Vrtc vPortTickISR( void )
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210 uint32_t ulSavedInterruptMask;
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212 /* Clear the interrupt. */
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213 RTCSC |= RTCSC_RTIF_MASK;
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215 /* Increment the RTOS tick. */
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216 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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218 if( xTaskIncrementTick() != pdFALSE )
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223 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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