| /* | |
| FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS tutorial books are available in pdf and paperback. * | |
| * Complete, revised, and edited pdf reference manuals are also * | |
| * available. * | |
| * * | |
| * Purchasing FreeRTOS documentation will not only help you, by * | |
| * ensuring you get running as quickly as possible and with an * | |
| * in-depth knowledge of how to use FreeRTOS, it will also help * | |
| * the FreeRTOS project to continue with its mission of providing * | |
| * professional grade, cross platform, de facto standard solutions * | |
| * for microcontrollers - completely free of charge! * | |
| * * | |
| * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * | |
| * * | |
| * Thank you for using FreeRTOS, and 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 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. 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! | |
| *************************************************************************** | |
| * * | |
| * 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, training, latest information, | |
| license and contact details. | |
| http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, | |
| including FreeRTOS+Trace - an indispensable productivity tool. | |
| Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell | |
| the code with commercial support, indemnification, and middleware, under | |
| the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also | |
| provide a safety engineered and independently SIL3 certified version under | |
| the SafeRTOS brand: http://www.SafeRTOS.com. | |
| */ | |
| /* Scheduler includes. */ | |
| #include "FreeRTOS.h" | |
| #include "task.h" | |
| /*----------------------------------------------------------- | |
| * Implementation of functions defined in portable.h for the MSP430 port. | |
| *----------------------------------------------------------*/ | |
| /* Constants required for hardware setup. The tick ISR runs off the ACLK, | |
| not the MCLK. */ | |
| #define portACLK_FREQUENCY_HZ ( ( portTickType ) 32768 ) | |
| #define portINITIAL_CRITICAL_NESTING ( ( unsigned short ) 10 ) | |
| #define portFLAGS_INT_ENABLED ( ( portSTACK_TYPE ) 0x08 ) | |
| /* 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; | |
| /* Each task maintains a count of the critical section nesting depth. Each | |
| time a critical section is entered the count is incremented. Each time a | |
| critical section is exited the count is decremented - with interrupts only | |
| being re-enabled if the count is zero. | |
| usCriticalNesting will get set to zero when the scheduler starts, but must | |
| not be initialised to zero as this will cause problems during the startup | |
| sequence. */ | |
| volatile unsigned short usCriticalNesting = portINITIAL_CRITICAL_NESTING; | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but | |
| * could have alternatively used the watchdog timer or timer 1. | |
| */ | |
| void prvSetupTimerInterrupt( void ); | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Initialise the stack of a task to look exactly as if a call to | |
| * portSAVE_CONTEXT had been called. | |
| * | |
| * See the header file portable.h. | |
| */ | |
| portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) | |
| { | |
| /* | |
| Place a few bytes of known values on the bottom of the stack. | |
| This is just useful for debugging and can be included if required. | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x1111; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x2222; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x3333; | |
| pxTopOfStack--; | |
| */ | |
| /* The msp430 automatically pushes the PC then SR onto the stack before | |
| executing an ISR. We want the stack to look just as if this has happened | |
| so place a pointer to the start of the task on the stack first - followed | |
| by the flags we want the task to use when it starts up. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) pxCode; | |
| pxTopOfStack--; | |
| *pxTopOfStack = portFLAGS_INT_ENABLED; | |
| pxTopOfStack--; | |
| /* Next the general purpose registers. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x4444; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x5555; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x6666; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x7777; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x8888; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0x9999; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xaaaa; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xbbbb; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xcccc; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xdddd; | |
| pxTopOfStack--; | |
| *pxTopOfStack = ( portSTACK_TYPE ) 0xeeee; | |
| pxTopOfStack--; | |
| /* When the task starts is will expect to find the function parameter in | |
| R15. */ | |
| *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; | |
| pxTopOfStack--; | |
| /* A variable is used to keep track of the critical section nesting. | |
| This variable has to be stored as part of the task context and is | |
| initially set to zero. */ | |
| *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; | |
| } | |
| /*-----------------------------------------------------------*/ | |
| void vPortEndScheduler( void ) | |
| { | |
| /* It is unlikely that the MSP430 port will get stopped. If required simply | |
| disable the tick interrupt here. */ | |
| } | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Hardware initialisation to generate the RTOS tick. This uses timer 0 | |
| * but could alternatively use the watchdog timer or timer 1. | |
| */ | |
| void prvSetupTimerInterrupt( void ) | |
| { | |
| /* Ensure the timer is stopped. */ | |
| TACTL = 0; | |
| /* Run the timer of the ACLK. */ | |
| TACTL = TASSEL_1; | |
| /* Clear everything to start with. */ | |
| TACTL |= TACLR; | |
| /* Set the compare match value according to the tick rate we want. */ | |
| TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ; | |
| /* Enable the interrupts. */ | |
| TACCTL0 = CCIE; | |
| /* Start up clean. */ | |
| TACTL |= TACLR; | |
| /* Up mode. */ | |
| TACTL |= MC_1; | |
| } | |
| /*-----------------------------------------------------------*/ | |