| /* | |
| * FreeRTOS Kernel V10.3.1 | |
| * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | |
| * | |
| * Permission is hereby granted, free of charge, to any person obtaining a copy of | |
| * this software and associated documentation files (the "Software"), to deal in | |
| * the Software without restriction, including without limitation the rights to | |
| * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of | |
| * the Software, and to permit persons to whom the Software is furnished to do so, | |
| * subject to the following conditions: | |
| * | |
| * The above copyright notice and this permission notice shall be included in all | |
| * copies or substantial portions of the Software. | |
| * | |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS | |
| * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR | |
| * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER | |
| * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN | |
| * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. | |
| * | |
| * http://www.FreeRTOS.org | |
| * http://aws.amazon.com/freertos | |
| * | |
| * 1 tab == 4 spaces! | |
| */ | |
| #include "FreeRTOSConfig.h" | |
| #include "portasm.h" | |
| .CODE | |
| /* | |
| * The RTOS tick ISR. | |
| * | |
| * If the cooperative scheduler is in use this simply increments the tick | |
| * count. | |
| * | |
| * If the preemptive scheduler is in use a context switch can also occur. | |
| */ | |
| _vTickISR: | |
| portSAVE_CONTEXT | |
| call #_xTaskIncrementTick | |
| cmp.w #0x00, r15 | |
| jeq _SkipContextSwitch | |
| call #_vTaskSwitchContext | |
| _SkipContextSwitch: | |
| portRESTORE_CONTEXT | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Manual context switch called by the portYIELD() macro. | |
| */ | |
| _vPortYield:: | |
| /* Mimic an interrupt by pushing the SR. */ | |
| push SR | |
| /* Now the SR is stacked we can disable interrupts. */ | |
| dint | |
| /* Save the context of the current task. */ | |
| portSAVE_CONTEXT | |
| /* Switch to the highest priority task that is ready to run. */ | |
| call #_vTaskSwitchContext | |
| /* Restore the context of the new task. */ | |
| portRESTORE_CONTEXT | |
| /*-----------------------------------------------------------*/ | |
| /* | |
| * Start off the scheduler by initialising the RTOS tick timer, then restoring | |
| * the context of the first task. | |
| */ | |
| _xPortStartScheduler:: | |
| /* Setup the hardware to generate the tick. Interrupts are disabled | |
| when this function is called. */ | |
| call #_prvSetupTimerInterrupt | |
| /* Restore the context of the first task that is going to run. */ | |
| portRESTORE_CONTEXT | |
| /*-----------------------------------------------------------*/ | |
| /* Place the tick ISR in the correct vector. */ | |
| .VECTORS | |
| .KEEP | |
| ORG TIMERA0_VECTOR | |
| DW _vTickISR | |
| END | |