2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 /* Kernel includes. */
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66 #include "FreeRTOS.h"
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70 #define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
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72 /* Supervisor mode set. */
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73 #define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000)
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75 /* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This
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76 will be set to 0 prior to the first task being started. */
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77 static unsigned long ulCriticalNesting = 0x9999UL;
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80 #define portSAVE_CONTEXT() \
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81 lea.l (-60, %sp), %sp; \
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82 movem.l %d0-%fp, (%sp); \
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83 move.l pxCurrentTCB, %a0; \
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86 #define portRESTORE_CONTEXT() \
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87 move.l pxCurrentTCB, %a0; \
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88 move.l (%a0), %sp; \
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89 movem.l (%sp), %d0-%fp; \
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90 lea.l %sp@(60), %sp; \
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95 /*-----------------------------------------------------------*/
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97 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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99 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
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102 *pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
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105 /* Exception stack frame starts with the return address. */
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106 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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109 *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
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112 *pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
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113 pxTopOfStack -= 14; /* A5 to D0. */
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115 return pxTopOfStack;
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117 /*-----------------------------------------------------------*/
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119 portBASE_TYPE xPortStartScheduler( void )
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121 extern void vPortStartFirstTask( void );
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123 ulCriticalNesting = 0UL;
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125 /* Configure the interrupts used by this port. */
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126 vApplicationSetupInterrupts();
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128 /* Start the first task executing. */
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129 vPortStartFirstTask();
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133 /*-----------------------------------------------------------*/
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135 void vPortEndScheduler( void )
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137 /* Not implemented as there is nothing to return to. */
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139 /*-----------------------------------------------------------*/
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141 void vPortEnterCritical( void )
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143 if( ulCriticalNesting == 0UL )
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145 /* Guard against context switches being pended simultaneously with a
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146 critical section being entered. */
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149 portDISABLE_INTERRUPTS();
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150 if( MCF_INTC0_INTFRCH == 0UL )
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155 portENABLE_INTERRUPTS();
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159 ulCriticalNesting++;
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161 /*-----------------------------------------------------------*/
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163 void vPortExitCritical( void )
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165 ulCriticalNesting--;
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166 if( ulCriticalNesting == 0 )
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168 portENABLE_INTERRUPTS();
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171 /*-----------------------------------------------------------*/
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173 void vPortYieldHandler( void )
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175 unsigned long ulSavedInterruptMask;
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177 ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR();
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178 /* Note this will clear all forced interrupts - this is done for speed. */
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179 MCF_INTC0_INTFRCL = 0;
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180 vTaskSwitchContext();
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181 portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask );
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183 /*-----------------------------------------------------------*/
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