2 FreeRTOS V7.4.0 - 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 itcan 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 /*-----------------------------------------------------------
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76 * Implementation of functions defined in portable.h for the SH2A port.
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77 *----------------------------------------------------------*/
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79 /* Scheduler includes. */
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80 #include "FreeRTOS.h"
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83 /* Library includes. */
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86 /* Hardware specifics. */
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87 #include <iorx62n.h>
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89 /*-----------------------------------------------------------*/
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91 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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92 PSW is set with U and I set, and PM and IPL clear. */
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93 #define portINITIAL_PSW ( ( portSTACK_TYPE ) 0x00030000 )
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94 #define portINITIAL_FPSW ( ( portSTACK_TYPE ) 0x00000100 )
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96 /*-----------------------------------------------------------*/
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99 * Function to start the first task executing - written in asm code as direct
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100 * access to registers is required.
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102 extern void prvStartFirstTask( void );
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105 * The tick ISR handler. The peripheral used is configured by the application
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106 * via a hook/callback function.
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108 __interrupt void vTickISR( void );
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110 /*-----------------------------------------------------------*/
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112 extern void *pxCurrentTCB;
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114 /*-----------------------------------------------------------*/
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117 * See header file for description.
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119 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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121 /* R0 is not included as it is the stack pointer. */
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123 *pxTopOfStack = 0x00;
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125 *pxTopOfStack = portINITIAL_PSW;
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127 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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129 /* When debugging it can be useful if every register is set to a known
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130 value. Otherwise code space can be saved by just setting the registers
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131 that need to be set. */
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132 #ifdef USE_FULL_REGISTER_INITIALISATION
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135 *pxTopOfStack = 0xffffffff; /* r15. */
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137 *pxTopOfStack = 0xeeeeeeee;
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139 *pxTopOfStack = 0xdddddddd;
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141 *pxTopOfStack = 0xcccccccc;
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143 *pxTopOfStack = 0xbbbbbbbb;
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145 *pxTopOfStack = 0xaaaaaaaa;
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147 *pxTopOfStack = 0x99999999;
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149 *pxTopOfStack = 0x88888888;
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151 *pxTopOfStack = 0x77777777;
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153 *pxTopOfStack = 0x66666666;
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155 *pxTopOfStack = 0x55555555;
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157 *pxTopOfStack = 0x44444444;
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159 *pxTopOfStack = 0x33333333;
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161 *pxTopOfStack = 0x22222222;
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166 pxTopOfStack -= 15;
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170 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 */
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172 *pxTopOfStack = portINITIAL_FPSW;
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174 *pxTopOfStack = 0x12345678; /* Accumulator. */
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176 *pxTopOfStack = 0x87654321; /* Accumulator. */
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178 return pxTopOfStack;
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180 /*-----------------------------------------------------------*/
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182 portBASE_TYPE xPortStartScheduler( void )
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184 extern void vApplicationSetupTimerInterrupt( void );
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186 /* Use pxCurrentTCB just so it does not get optimised away. */
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187 if( pxCurrentTCB != NULL )
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189 /* Call an application function to set up the timer that will generate the
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190 tick interrupt. This way the application can decide which peripheral to
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191 use. A demo application is provided to show a suitable example. */
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192 vApplicationSetupTimerInterrupt();
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194 /* Enable the software interrupt. */
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195 _IEN( _ICU_SWINT ) = 1;
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197 /* Ensure the software interrupt is clear. */
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198 _IR( _ICU_SWINT ) = 0;
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200 /* Ensure the software interrupt is set to the kernel priority. */
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201 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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203 /* Start the first task. */
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204 prvStartFirstTask();
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207 /* Should not get here. */
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210 /*-----------------------------------------------------------*/
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212 #pragma vector = configTICK_VECTOR
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213 __interrupt void vTickISR( void )
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215 /* Re-enable interrupts. */
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216 __enable_interrupt();
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218 /* Increment the tick, and perform any processing the new tick value
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220 __set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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222 vTaskIncrementTick();
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224 __set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY );
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226 /* Only select a new task if the preemptive scheduler is being used. */
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227 #if( configUSE_PREEMPTION == 1 )
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231 /*-----------------------------------------------------------*/
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233 void vPortEndScheduler( void )
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235 /* Not implemented as there is nothing to return to. */
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237 /*-----------------------------------------------------------*/
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