/* | |
FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry. | |
This file is part of the FreeRTOS.org distribution. | |
FreeRTOS.org 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.org without being obliged to provide | |
the source code for any proprietary components. Alternative commercial | |
license and support terms are also available upon request. See the | |
licensing section of http://www.FreeRTOS.org for full details. | |
FreeRTOS.org 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 along | |
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 | |
Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
*************************************************************************** | |
* * | |
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
* * | |
* This is a concise, step by step, 'hands on' guide that describes both * | |
* general multitasking concepts and FreeRTOS specifics. It presents and * | |
* explains numerous examples that are written using the FreeRTOS API. * | |
* Full source code for all the examples is provided in an accompanying * | |
* .zip file. * | |
* * | |
*************************************************************************** | |
1 tab == 4 spaces! | |
Please ensure to read the configuration and relevant port sections of the | |
online documentation. | |
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. | |
*/ | |
/* Kernel includes. */ | |
#include "FreeRTOS.h" | |
#include "task.h" | |
#define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 ) | |
/* Supervisor mode set. */ | |
#define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 0x2000) | |
/* Used to keep track of the number of nested calls to taskENTER_CRITICAL(). This | |
will be set to 0 prior to the first task being started. */ | |
static unsigned portLONG ulCriticalNesting = 0x9999UL; | |
#define portSAVE_CONTEXT() \ | |
lea.l (-60, %sp), %sp; \ | |
movem.l %d0-%fp, (%sp); \ | |
move.l pxCurrentTCB, %a0; \ | |
move.l %sp, (%a0); | |
#define portRESTORE_CONTEXT() \ | |
move.l pxCurrentTCB, %a0; \ | |
move.l (%a0), %sp; \ | |
movem.l (%sp), %d0-%fp; \ | |
lea.l %sp@(60), %sp; \ | |
rte | |
/*-----------------------------------------------------------*/ | |
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
{ | |
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; | |
pxTopOfStack--; | |
*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF; | |
pxTopOfStack--; | |
/* Exception stack frame starts with the return address. */ | |
*pxTopOfStack = ( portSTACK_TYPE ) pxCode; | |
pxTopOfStack--; | |
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); | |
pxTopOfStack--; | |
*pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/ | |
pxTopOfStack -= 14; /* A5 to D0. */ | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
portBASE_TYPE xPortStartScheduler( void ) | |
{ | |
extern void vPortStartFirstTask( void ); | |
ulCriticalNesting = 0UL; | |
/* Configure the interrupts used by this port. */ | |
vApplicationSetupInterrupts(); | |
/* Start the first task executing. */ | |
vPortStartFirstTask(); | |
return pdFALSE; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEndScheduler( void ) | |
{ | |
/* Not implemented as there is nothing to return to. */ | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortEnterCritical( void ) | |
{ | |
if( ulCriticalNesting == 0UL ) | |
{ | |
/* Guard against context switches being pended simultaneously with a | |
critical section being entered. */ | |
do | |
{ | |
portDISABLE_INTERRUPTS(); | |
if( MCF_INTC0_INTFRCH == 0UL ) | |
{ | |
break; | |
} | |
portENABLE_INTERRUPTS(); | |
} while( 1 ); | |
} | |
ulCriticalNesting++; | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortExitCritical( void ) | |
{ | |
ulCriticalNesting--; | |
if( ulCriticalNesting == 0 ) | |
{ | |
portENABLE_INTERRUPTS(); | |
} | |
} | |
/*-----------------------------------------------------------*/ | |
void vPortYieldHandler( void ) | |
{ | |
unsigned portLONG ulSavedInterruptMask; | |
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
/* Note this will clear all forced interrupts - this is done for speed. */ | |
MCF_INTC0_INTFRCL = 0; | |
vTaskSwitchContext(); | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
} | |
/*-----------------------------------------------------------*/ | |