| /* | |
| FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 modification 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. Full license text is available from the following | |
| link: http://www.freertos.org/a00114.html | |
| 1 tab == 4 spaces! | |
| *************************************************************************** | |
| * * | |
| * Having a problem? Start by reading the FAQ "My application does * | |
| * not run, what could be wrong?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
| license and Real Time Engineers Ltd. contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool, a DOS | |
| compatible FAT file system, and our tiny thread aware UDP/IP stack. | |
| http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and middleware. | |
| http://www.SafeRTOS.com - High Integrity Systems also provide a safety | |
| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| /* Kernel includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| #define portINITIAL_FORMAT_VECTOR ( ( StackType_t ) 0x4000 ) | |
| /* Supervisor mode set. */ | |
| #define portINITIAL_STATUS_REGISTER ( ( StackType_t ) 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 uint32_t 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 | |
| /*-----------------------------------------------------------*/ | |
| StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
| { | |
| *pxTopOfStack = ( StackType_t ) pvParameters; | |
| pxTopOfStack--; | |
| *pxTopOfStack = (StackType_t) 0xDEADBEEF; | |
| pxTopOfStack--; | |
| /* Exception stack frame starts with the return address. */ | |
| *pxTopOfStack = ( StackType_t ) pxCode; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER ); | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( StackType_t ) 0x0; /*FP*/ | |
| pxTopOfStack -= 14; /* A5 to D0. */ | |
| return pxTopOfStack; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| BaseType_t 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 ) | |
| { | |
| uint32_t 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 ); | |
| } | |
| /*-----------------------------------------------------------*/ | |