/*\r
- FreeRTOS.org V5.1.1 - Copyright (C) 2003-2009 Richard Barry.\r
-\r
- This file is part of the FreeRTOS.org distribution.\r
-\r
- FreeRTOS.org is free software; you can redistribute it and/or modify\r
- it under the terms of the GNU General Public License as published by\r
- the Free Software Foundation; either version 2 of the License, or\r
- (at your option) any later version.\r
-\r
- FreeRTOS.org is distributed in the hope that it will be useful,\r
- but WITHOUT ANY WARRANTY; without even the implied warranty of\r
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\r
- GNU General Public License for more details.\r
-\r
- You should have received a copy of the GNU General Public License\r
- along with FreeRTOS.org; if not, write to the Free Software\r
- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA\r
-\r
- A special exception to the GPL can be applied should you wish to distribute\r
- a combined work that includes FreeRTOS.org, without being obliged to provide\r
- the source code for any proprietary components. See the licensing section\r
- of http://www.FreeRTOS.org for full details of how and when the exception\r
- can be applied.\r
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.\r
+ \r
\r
***************************************************************************\r
+ * *\r
+ * FreeRTOS tutorial books are available in pdf and paperback. *\r
+ * Complete, revised, and edited pdf reference manuals are also *\r
+ * available. *\r
+ * *\r
+ * Purchasing FreeRTOS documentation will not only help you, by *\r
+ * ensuring you get running as quickly as possible and with an *\r
+ * in-depth knowledge of how to use FreeRTOS, it will also help *\r
+ * the FreeRTOS project to continue with its mission of providing *\r
+ * professional grade, cross platform, de facto standard solutions *\r
+ * for microcontrollers - completely free of charge! *\r
+ * *\r
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *\r
+ * *\r
+ * Thank you for using FreeRTOS, and thank you for your support! *\r
+ * *\r
***************************************************************************\r
- * *\r
- * SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *\r
- * and even write all or part of your application on your behalf. *\r
- * See http://www.OpenRTOS.com for details of the services we provide to *\r
- * expedite your project. *\r
- * *\r
- ***************************************************************************\r
- ***************************************************************************\r
-\r
- Please ensure to read the configuration and relevant port sections of the\r
- online documentation.\r
\r
- http://www.FreeRTOS.org - Documentation, latest information, license and\r
- contact details.\r
\r
- http://www.SafeRTOS.com - A version that is certified for use in safety\r
- critical systems.\r
+ This file is part of the FreeRTOS distribution.\r
+\r
+ FreeRTOS is free software; you can redistribute it and/or modify it under\r
+ the terms of the GNU General Public License (version 2) as published by the\r
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.\r
+ >>>NOTE<<< The modification to the GPL is included to allow you to\r
+ distribute a combined work that includes FreeRTOS without being obliged to\r
+ provide the source code for proprietary components outside of the FreeRTOS\r
+ kernel. FreeRTOS is distributed in the hope that it will be useful, but\r
+ WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for\r
+ more details. You should have received a copy of the GNU General Public\r
+ License and the FreeRTOS license exception along with FreeRTOS; if not it\r
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained\r
+ by writing to Richard Barry, contact details for whom are available on the\r
+ FreeRTOS WEB site.\r
+\r
+ 1 tab == 4 spaces!\r
+ \r
+ ***************************************************************************\r
+ * *\r
+ * Having a problem? Start by reading the FAQ "My application does *\r
+ * not run, what could be wrong? *\r
+ * *\r
+ * http://www.FreeRTOS.org/FAQHelp.html *\r
+ * *\r
+ ***************************************************************************\r
\r
- http://www.OpenRTOS.com - Commercial support, development, porting,\r
- licensing and training services.\r
+ \r
+ http://www.FreeRTOS.org - Documentation, training, latest information, \r
+ license and contact details.\r
+ \r
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,\r
+ including FreeRTOS+Trace - an indispensable productivity tool.\r
+\r
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell \r
+ the code with commercial support, indemnification, and middleware, under \r
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also\r
+ provide a safety engineered and independently SIL3 certified version under \r
+ the SafeRTOS brand: http://www.SafeRTOS.com.\r
*/\r
\r
/* Standard includes. */\r
#include "FreeRTOS.h"\r
#include "task.h"\r
\r
-#define portINITIAL_CRITICAL_NESTING (( unsigned portSHORT ) 10)\r
+/* The critical nesting value is initialised to a non zero value to ensure\r
+interrupts don't accidentally become enabled before the scheduler is started. */\r
+#define portINITIAL_CRITICAL_NESTING (( unsigned short ) 10)\r
\r
-/* default Initialization of the PSW for the task:\r
+/* Initial PSW value allocated to a newly created task.\r
* 1100011000000000\r
* ||||||||-------------- Fill byte\r
- * |||||||--------------- Cary Flag cleared\r
+ * |||||||--------------- Carry Flag cleared\r
* |||||----------------- In-service priority Flags set to low level\r
* ||||------------------ Register bank Select 0 Flag cleared\r
- * |||------------------- Auxiliary Cary Flag cleared\r
+ * |||------------------- Auxiliary Carry Flag cleared\r
* ||-------------------- Register bank Select 1 Flag cleared\r
* |--------------------- Zero Flag set\r
* ---------------------- Global Interrupt Flag set (enabled)\r
*/\r
-#define portPSW (0xc6000000UL)\r
+#define portPSW (0xc6UL)\r
\r
/* We require the address of the pxCurrentTCB variable, but don't want to know\r
any details of its type. */\r
usCriticalNesting will get set to zero when the scheduler starts, but must\r
not be initialised to zero as this will cause problems during the startup\r
sequence. */\r
-volatile unsigned portSHORT usCriticalNesting = portINITIAL_CRITICAL_NESTING;\r
+volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING;\r
/*-----------------------------------------------------------*/\r
\r
-/*\r
- * The tick interrupt handler.\r
- */\r
-__interrupt void MD_INTTM05( void );\r
-\r
/*\r
* Sets up the periodic ISR used for the RTOS tick.\r
*/\r
\r
#if configMEMORY_MODE == 1\r
{\r
- /* Parameters are passed in on the stack. */\r
+ /* Parameters are passed in on the stack, and written using a 32bit value\r
+ hence a space is left for the second two bytes. */\r
pxTopOfStack--;\r
+\r
+ /* Write in the parameter value. */\r
pulLocal = ( unsigned long * ) pxTopOfStack;\r
*pulLocal = ( unsigned long ) pvParameters;\r
pxTopOfStack--;\r
\r
- /* Dummy values on the stack because there normaly the return address\r
- of the funtion is written. */\r
+ /* These values are just spacers. The return address of the function\r
+ would normally be written here. */\r
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;\r
pxTopOfStack--;\r
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;\r
pxTopOfStack--;\r
\r
- /* Initial PSW value. */\r
-// *pxTopOfStack = portPSW;\r
- \r
+ /* The start address / PSW value is also written in as a 32bit value,\r
+ so leave a space for the second two bytes. */\r
pxTopOfStack--;\r
-\r
\r
- /* Task function start address. */\r
+ /* Task function start address combined with the PSW. */\r
pulLocal = ( unsigned long * ) pxTopOfStack;\r
- *pulLocal = ( ( ( unsigned long ) pxCode ) | portPSW );\r
+ *pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );\r
pxTopOfStack--;\r
\r
- /* Next general purpose register AX. */\r
+ /* An initial value for the AX register. */\r
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111;\r
pxTopOfStack--;\r
}\r
#else\r
{\r
+ /* Task function address is written to the stack first. As it is\r
+ written as a 32bit value a space is left on the stack for the second\r
+ two bytes. */\r
pxTopOfStack--;\r
\r
- /* Task function start address. */\r
- pulLocal = (unsigned long*) pxTopOfStack;\r
- *pulLocal = (unsigned long) pxCode;\r
- pxTopOfStack--;\r
-\r
- /* Initial PSW value. */\r
- *pxTopOfStack = portPSW;\r
+ /* Task function start address combined with the PSW. */\r
+ pulLocal = ( unsigned long * ) pxTopOfStack;\r
+ *pulLocal = ( ( ( unsigned long ) pxCode ) | ( portPSW << 24UL ) );\r
pxTopOfStack--;\r
\r
/* The parameter is passed in AX. */\r
}\r
#endif\r
\r
- /* HL. */\r
+ /* An initial value for the HL register. */\r
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222;\r
pxTopOfStack--;\r
\r
pxTopOfStack--;\r
*pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC;\r
pxTopOfStack--;\r
+\r
+ /* Finally the critical section nesting count is set to zero when the task\r
+ first starts. */\r
*pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; \r
\r
- /*\r
- * Return a pointer to the top of the stack we have generated so this can\r
- * be stored in the task control block for the task.\r
- */\r
+ /* Return a pointer to the top of the stack we have generated so this can\r
+ be stored in the task control block for the task. */\r
return pxTopOfStack;\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vPortEndScheduler( void )\r
{\r
- /* It is unlikely that the 78K0R/Kx3 port will get stopped. If required simply\r
+ /* It is unlikely that the 78K0R port will get stopped. If required simply\r
disable the tick interrupt here. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
-/*\r
- * Hardware initialisation to generate the RTOS tick. This uses Channel 5 of\r
- * the Timer Array Unit (TAU). Any other Channel could also be used.\r
- */\r
static void prvSetupTimerInterrupt( void )\r
{\r
+ /* Setup channel 5 of the TAU to generate the tick interrupt. */\r
+\r
/* First the Timer Array Unit has to be enabled. */\r
TAU0EN = 1;\r
\r
projects / freertos / blobdiff