/* | |
FreeRTOS V8.1.2 - 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) | |
/* The clock prescale into the timer peripheral. */ | |
#define portPRESCALE_VALUE ( ( uint8_t ) 10 ) | |
/* The clock frequency into the RTC. */ | |
#define portRTC_CLOCK_HZ ( ( uint32_t ) 1000 ) | |
asm void interrupt VectorNumber_VL1swi vPortYieldISR( void ); | |
static void prvSetupTimerInterrupt( void ); | |
/* 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; | |
/*-----------------------------------------------------------*/ | |
StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) | |
{ | |
uint32_t ulOriginalA5; | |
__asm{ MOVE.L A5, ulOriginalA5 }; | |
*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. */ | |
/* Parameter in A0. */ | |
*( pxTopOfStack + 8 ) = ( StackType_t ) pvParameters; | |
/* A5 must be maintained as it is resurved by the compiler. */ | |
*( pxTopOfStack + 13 ) = ulOriginalA5; | |
return pxTopOfStack; | |
} | |
/*-----------------------------------------------------------*/ | |
BaseType_t xPortStartScheduler( void ) | |
{ | |
extern void vPortStartFirstTask( void ); | |
ulCriticalNesting = 0UL; | |
/* Configure a timer to generate the tick interrupt. */ | |
prvSetupTimerInterrupt(); | |
/* Start the first task executing. */ | |
vPortStartFirstTask(); | |
return pdFALSE; | |
} | |
/*-----------------------------------------------------------*/ | |
static void prvSetupTimerInterrupt( void ) | |
{ | |
/* Prescale by 1 - ie no prescale. */ | |
RTCSC |= 8; | |
/* Compare match value. */ | |
RTCMOD = portRTC_CLOCK_HZ / configTICK_RATE_HZ; | |
/* Enable the RTC to generate interrupts - interrupts are already disabled | |
when this code executes. */ | |
RTCSC_RTIE = 1; | |
} | |
/*-----------------------------------------------------------*/ | |
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( INTC_FRC == 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. */ | |
INTC_CFRC = 0x3E; | |
vTaskSwitchContext(); | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
} | |
/*-----------------------------------------------------------*/ | |
void interrupt VectorNumber_Vrtc vPortTickISR( void ) | |
{ | |
uint32_t ulSavedInterruptMask; | |
/* Clear the interrupt. */ | |
RTCSC |= RTCSC_RTIF_MASK; | |
/* Increment the RTOS tick. */ | |
ulSavedInterruptMask = portSET_INTERRUPT_MASK_FROM_ISR(); | |
{ | |
if( xTaskIncrementTick() != pdFALSE ) | |
{ | |
taskYIELD(); | |
} | |
} | |
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulSavedInterruptMask ); | |
} | |