| /* | |
| FreeRTOS V6.1.1 - Copyright (C) 2011 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. | |
| */ | |
| /* Standard includes. */ | |
| #include <stdlib.h> | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /* Critical nesting should be initialised to a non zero value so interrupts don't | |
| accidentally get enabled before the scheduler is started. */ | |
| #define portINITIAL_CRITICAL_NESTING (( portSTACK_TYPE ) 10) | |
| /* The PSW value assigned to tasks when they start to run for the first time. */ | |
| #define portPSW (( portSTACK_TYPE ) 0x00000000) | |
| /* We require the address of the pxCurrentTCB variable, but don't want to know | |
| any details of its type. */ | |
| typedef void tskTCB; | |
| extern volatile tskTCB * volatile pxCurrentTCB; | |
| /* Keeps track of the nesting level of critical sections. */ | |
| volatile portSTACK_TYPE usCriticalNesting = portINITIAL_CRITICAL_NESTING; | |
| /*-----------------------------------------------------------*/ | |
| /* Sets up the timer to generate the tick interrupt. */ | |
| static void prvSetupTimerInterrupt( void ); | |
| /*-----------------------------------------------------------*/ | |
| portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
| { | |
| *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* Task function start address */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* Task function start address */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = portPSW; /* Initial PSW value */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x20202020; /* Initial Value of R20 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x21212121; /* Initial Value of R21 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x22222222; /* Initial Value of R22 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x23232323; /* Initial Value of R23 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x24242424; /* Initial Value of R24 */ | |
| pxTopOfStack--; | |
| #if (__DATA_MODEL__ == 0) || (__DATA_MODEL__ == 1) | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x25252525; /* Initial Value of R25 */ | |
| pxTopOfStack--; | |
| #endif /* configDATA_MODE */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x26262626; /* Initial Value of R26 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x27272727; /* Initial Value of R27 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x28282828; /* Initial Value of R28 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x29292929; /* Initial Value of R29 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x30303030; /* Initial Value of R30 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x19191919; /* Initial Value of R19 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x18181818; /* Initial Value of R18 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x17171717; /* Initial Value of R17 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x16161616; /* Initial Value of R16 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x15151515; /* Initial Value of R15 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x14141414; /* Initial Value of R14 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x13131313; /* Initial Value of R13 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x12121212; /* Initial Value of R12 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x11111111; /* Initial Value of R11 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x10101010; /* Initial Value of R10 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x99999999; /* Initial Value of R09 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x88888888; /* Initial Value of R08 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x77777777; /* Initial Value of R07 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x66666666; /* Initial Value of R06 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x55555555; /* Initial Value of R05 */ | |
| pxTopOfStack--; | |
| #if __DATA_MODEL__ == 0 || __DATA_MODEL__ == 1 | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x44444444; /* Initial Value of R04 */ | |
| pxTopOfStack--; | |
| #endif /* configDATA_MODE */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x22222222; /* Initial Value of R02 */ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 is expected to hold the function parameter*/ | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) portNO_CRITICAL_SECTION_NESTING; | |
| /* | |
| * Return a pointer to the top of the stack we have generated so this can | |
| * be stored in the task control block for the task. | |
| */ | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| portBASE_TYPE xPortStartScheduler( void ) | |
| { | |
| /* Setup the hardware to generate the tick. Interrupts are disabled when | |
| this function is called. */ | |
| prvSetupTimerInterrupt(); | |
| /* Restore the context of the first task that is going to run. */ | |
| vPortStart(); | |
| /* Should not get here as the tasks are now running! */ | |
| return pdTRUE; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) | |
| { | |
| /* It is unlikely that the V850ES/Fx3 port will get stopped. If required simply | |
| disable the tick interrupt here. */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Hardware initialisation to generate the RTOS tick. This uses | |
| */ | |
| static void prvSetupTimerInterrupt( void ) | |
| { | |
| TM0CE = 0; /* TMM0 operation disable */ | |
| TM0EQMK0 = 1; /* INTTM0EQ0 interrupt disable */ | |
| TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ | |
| #ifdef __IAR_V850ES_Fx3__ | |
| { | |
| TM0CMP0 = (((configCPU_CLOCK_HZ / configTICK_RATE_HZ) / 2)-1); /* divided by 2 because peripherals only run at CPU_CLOCK/2 */ | |
| } | |
| #else | |
| { | |
| TM0CMP0 = (configCPU_CLOCK_HZ / configTICK_RATE_HZ); | |
| } | |
| #endif | |
| TM0EQIC0 &= 0xF8; | |
| TM0CTL0 = 0x00; | |
| TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ | |
| TM0EQMK0 = 0; /* INTTM0EQ0 interrupt enable */ | |
| TM0CE = 1; /* TMM0 operation enable */ | |
| } | |
| /*-----------------------------------------------------------*/ | |