/* | |
FreeRTOS V6.1.0 - Copyright (C) 2010 Real Time Engineers Ltd. | |
*************************************************************************** | |
* * | |
* If you are: * | |
* * | |
* + New to FreeRTOS, * | |
* + Wanting to learn FreeRTOS or multitasking in general quickly * | |
* + Looking for basic training, * | |
* + Wanting to improve your FreeRTOS skills and productivity * | |
* * | |
* then take a look at the FreeRTOS books - available as PDF or paperback * | |
* * | |
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" * | |
* http://www.FreeRTOS.org/Documentation * | |
* * | |
* A pdf reference manual is also available. Both are usually delivered * | |
* to your inbox within 20 minutes to two hours when purchased between 8am * | |
* and 8pm GMT (although please allow up to 24 hours in case of * | |
* exceptional circumstances). Thank you for your support! * | |
* * | |
*************************************************************************** | |
This file is part of the FreeRTOS distribution. | |
FreeRTOS is free software; you can redistribute it and/or modify it under | |
the terms of the GNU General Public License (version 2) as published by the | |
Free Software Foundation AND MODIFIED BY the FreeRTOS exception. | |
***NOTE*** The exception to the GPL is included to allow you to distribute | |
a combined work that includes FreeRTOS without being obliged to provide the | |
source code for proprietary components outside of the FreeRTOS kernel. | |
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT | |
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or | |
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | |
more details. You should have received a copy of the GNU General Public | |
License and the FreeRTOS license exception along with FreeRTOS; if not it | |
can be viewed here: http://www.freertos.org/a00114.html and also obtained | |
by writing to Richard Barry, contact details for whom are available on the | |
FreeRTOS WEB site. | |
1 tab == 4 spaces! | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
/*----------------------------------------------------------- | |
* Implementation of functions defined in portable.h for the SH2A port. | |
*----------------------------------------------------------*/ | |
/* Scheduler includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
/* Library includes. */ | |
#include "string.h" | |
/* Hardware specifics. */ | |
#include <iorx62n.h> | |
/*-----------------------------------------------------------*/ | |
/* Tasks should start with interrupts enabled and in Supervisor mode, therefore | |
PSW is set with U and I set, and PM and IPL clear. */ | |
#define portINITIAL_PSW ( ( portSTACK_TYPE ) 0x00030000 ) | |
#define portINITIAL_FPSW ( ( portSTACK_TYPE ) 0x00000100 ) | |
/*-----------------------------------------------------------*/ | |
/* | |
* Function to start the first task executing - written in asm code as direct | |
* access to registers is required. | |
*/ | |
extern void prvStartFirstTask( void ); | |
/* | |
* The tick ISR handler. The peripheral used is configured by the application | |
* via a hook/callback function. | |
*/ | |
__interrupt void vTickISR( void ); | |
/*-----------------------------------------------------------*/ | |
extern void *pxCurrentTCB; | |
/*-----------------------------------------------------------*/ | |
/* | |
* See header file for description. | |
*/ | |
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
{ | |
/* R0 is not included as it is the stack pointer. */ | |
*pxTopOfStack = 0xdeadbeef; | |
pxTopOfStack--; | |
*pxTopOfStack = portINITIAL_PSW; | |
pxTopOfStack--; | |
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; | |
/* When debugging it can be useful if every register is set to a known | |
value. Otherwise code space can be saved by just setting the registers | |
that need to be set. */ | |
#ifdef USE_FULL_REGISTER_INITIALISATION | |
{ | |
pxTopOfStack--; | |
*pxTopOfStack = 0xffffffff; /* r15. */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0xeeeeeeee; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xdddddddd; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xcccccccc; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xbbbbbbbb; | |
pxTopOfStack--; | |
*pxTopOfStack = 0xaaaaaaaa; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x99999999; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x88888888; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x77777777; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x66666666; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x55555555; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x44444444; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x33333333; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x22222222; | |
pxTopOfStack--; | |
} | |
#else | |
{ | |
pxTopOfStack -= 15; | |
} | |
#endif | |
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 */ | |
pxTopOfStack--; | |
*pxTopOfStack = portINITIAL_FPSW; | |
pxTopOfStack--; | |
*pxTopOfStack = 0x12345678; /* Accumulator. */ | |
pxTopOfStack--; | |
*pxTopOfStack = 0x87654321; /* Accumulator. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
extern void vApplicationSetupTimerInterrupt( void ); | |
/* Use pxCurrentTCB just so it does not get optimised away. */ | |
if( pxCurrentTCB != NULL ) | |
{ | |
/* Call an application function to set up the timer that will generate the | |
tick interrupt. This way the application can decide which peripheral to | |
use. A demo application is provided to show a suitable example. */ | |
vApplicationSetupTimerInterrupt(); | |
/* Enable the software interrupt. */ | |
_IEN( _ICU_SWINT ) = 1; | |
/* Ensure the software interrupt is clear. */ | |
_IR( _ICU_SWINT ) = 0; | |
/* Ensure the software interrupt is set to the kernel priority. */ | |
_IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY; | |
/* Start the first task. */ | |
prvStartFirstTask(); | |
} | |
/* Should not get here. */ | |
return pdFAIL; | |
} | |
/*-----------------------------------------------------------*/ | |
#pragma vector = configTICK_VECTOR | |
__interrupt void vTickISR( void ) | |
{ | |
/* Re-enable interrupts. */ | |
__enable_interrupt(); | |
/* Increment the tick, and perform any processing the new tick value | |
necessitates. */ | |
__set_interrupt_level( configMAX_SYSCALL_INTERRUPT_PRIORITY ); | |
{ | |
vTaskIncrementTick(); | |
} | |
__set_interrupt_level( configKERNEL_INTERRUPT_PRIORITY ); | |
/* Only select a new task if the preemptive scheduler is being used. */ | |
#if( configUSE_PREEMPTION == 1 ) | |
taskYIELD(); | |
#endif | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Not implemented as there is nothing to return to. */ | |
} | |
/*-----------------------------------------------------------*/ | |