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 "iodefine.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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95 /*-----------------------------------------------------------*/
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97 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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98 and therefore installed in the vector table, when the FreeRTOS code is built
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100 extern portBASE_TYPE vSoftwareInterruptEntry;
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101 const portBASE_TYPE * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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103 /*-----------------------------------------------------------*/
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106 * Function to start the first task executing - written in asm code as direct
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107 * access to registers is required.
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109 static void prvStartFirstTask( void );
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112 * Software interrupt handler. Performs the actual context switch (saving and
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113 * restoring of registers). Written in asm code as direct register access is
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116 static void prvYieldHandler( void );
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119 * The entry point for the software interrupt handler. This is the function
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120 * that calls the inline asm function prvYieldHandler(). It is installed in
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121 * the vector table, but the code that installs it is in prvYieldHandler rather
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122 * than using a #pragma.
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124 void vSoftwareInterruptISR( void );
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126 /*-----------------------------------------------------------*/
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128 /* This is accessed by the inline assembler functions so is file scope for
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130 extern void *pxCurrentTCB;
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131 extern void vTaskSwitchContext( void );
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133 /*-----------------------------------------------------------*/
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136 * See header file for description.
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138 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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140 /* R0 is not included as it is the stack pointer. */
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142 *pxTopOfStack = 0x00;
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144 *pxTopOfStack = 0x00;
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146 *pxTopOfStack = portINITIAL_PSW;
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148 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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150 /* When debugging it can be useful if every register is set to a known
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151 value. Otherwise code space can be saved by just setting the registers
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152 that need to be set. */
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153 #ifdef USE_FULL_REGISTER_INITIALISATION
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156 *pxTopOfStack = 0xffffffff; /* r15. */
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158 *pxTopOfStack = 0xeeeeeeee;
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160 *pxTopOfStack = 0xdddddddd;
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162 *pxTopOfStack = 0xcccccccc;
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164 *pxTopOfStack = 0xbbbbbbbb;
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166 *pxTopOfStack = 0xaaaaaaaa;
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168 *pxTopOfStack = 0x99999999;
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170 *pxTopOfStack = 0x88888888;
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172 *pxTopOfStack = 0x77777777;
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174 *pxTopOfStack = 0x66666666;
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176 *pxTopOfStack = 0x55555555;
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178 *pxTopOfStack = 0x44444444;
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180 *pxTopOfStack = 0x33333333;
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182 *pxTopOfStack = 0x22222222;
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187 pxTopOfStack -= 15;
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191 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 */
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193 *pxTopOfStack = 0x12345678; /* Accumulator. */
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195 *pxTopOfStack = 0x87654321; /* Accumulator. */
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197 return pxTopOfStack;
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199 /*-----------------------------------------------------------*/
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201 portBASE_TYPE xPortStartScheduler( void )
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203 extern void vApplicationSetupTimerInterrupt( void );
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205 /* Use pxCurrentTCB just so it does not get optimised away. */
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206 if( pxCurrentTCB != NULL )
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208 /* Call an application function to set up the timer that will generate the
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209 tick interrupt. This way the application can decide which peripheral to
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210 use. A demo application is provided to show a suitable example. */
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211 vApplicationSetupTimerInterrupt();
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213 /* Enable the software interrupt. */
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214 _IEN( _ICU_SWINT ) = 1;
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216 /* Ensure the software interrupt is clear. */
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217 _IR( _ICU_SWINT ) = 0;
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219 /* Ensure the software interrupt is set to the kernel priority. */
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220 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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222 /* Start the first task. */
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223 prvStartFirstTask();
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226 /* Just to make sure the function is not optimised away. */
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227 ( void ) vSoftwareInterruptISR();
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229 /* Should not get here. */
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232 /*-----------------------------------------------------------*/
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234 #pragma inline_asm prvStartFirstTask
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235 static void prvStartFirstTask( void )
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237 /* When starting the scheduler there is nothing that needs moving to the
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238 interrupt stack because the function is not called from an interrupt.
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239 Just ensure the current stack is the user stack. */
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242 /* Obtain the location of the stack associated with which ever task
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243 pxCurrentTCB is currently pointing to. */
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244 MOV.L #_pxCurrentTCB, R15
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248 /* Restore the registers from the stack of the task pointed to by
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251 MVTACLO R15 /* Accumulator low 32 bits. */
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253 MVTACHI R15 /* Accumulator high 32 bits. */
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254 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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255 RTE /* This pops the remaining registers. */
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259 /*-----------------------------------------------------------*/
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261 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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262 void vTickISR( void )
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264 /* Increment the tick, and perform any processing the new tick value
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266 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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268 vTaskIncrementTick();
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270 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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272 /* Only select a new task if the preemptive scheduler is being used. */
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273 #if( configUSE_PREEMPTION == 1 )
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277 /*-----------------------------------------------------------*/
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279 void vSoftwareInterruptISR( void )
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283 /*-----------------------------------------------------------*/
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285 #pragma inline_asm prvYieldHandler
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286 static void prvYieldHandler( void )
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288 /* Re-enable interrupts. */
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291 /* Move the data that was automatically pushed onto the interrupt stack when
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292 the interrupt occurred from the interrupt stack to the user stack.
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294 R15 is saved before it is clobbered. */
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297 /* Read the user stack pointer. */
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300 /* Move the address down to the data being moved. */
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304 /* Copy the data across. */
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305 MOV.L [ R0 ], [ R15 ] ; R15
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306 MOV.L 4[ R0 ], 4[ R15 ] ; PC
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307 MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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309 /* Move the interrupt stack pointer to its new correct position. */
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312 /* All the rest of the registers are saved directly to the user stack. */
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315 /* Save the rest of the general registers (R15 has been saved already). */
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318 /* Save the accumulator. */
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321 MVFACMI R15 ; Middle order word.
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322 SHLL #16, R15 ; Shifted left as it is restored to the low order word.
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325 /* Save the stack pointer to the TCB. */
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326 MOV.L #_pxCurrentTCB, R15
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330 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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331 structures are being accessed. */
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332 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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334 /* Select the next task to run. */
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335 BSR.A _vTaskSwitchContext
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337 /* Reset the interrupt mask as no more data structure access is required. */
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338 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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340 /* Load the stack pointer of the task that is now selected as the Running
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341 state task from its TCB. */
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342 MOV.L #_pxCurrentTCB,R15
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346 /* Restore the context of the new task. The PSW (Program Status Word) and
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347 PC will be popped by the RTE instruction. */
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357 /*-----------------------------------------------------------*/
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359 void vPortEndScheduler( void )
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361 /* Not implemented as there is nothing to return to. */
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363 /* The following line is just to prevent the symbol getting optimised away. */
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364 ( void ) vTaskSwitchContext();
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366 /*-----------------------------------------------------------*/
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