/* FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. 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 on 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?". Have you defined configASSERT()? * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** *************************************************************************** * * * Investing in training allows your team to be as productive as * * possible as early as possible, lowering your overall development * * cost, and enabling you to bring a more robust product to market * * earlier than would otherwise be possible. Richard Barry is both * * the architect and key author of FreeRTOS, and so also the world's * * leading authority on what is the world's most popular real time * * kernel for deeply embedded MCU designs. Obtaining your training * * from Richard ensures your team will gain directly from his in-depth * * product knowledge and years of usage experience. Contact Real Time * * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * * by Richard Barry: http://www.FreeRTOS.org/contact * * *************************************************************************** *************************************************************************** * * * You are receiving this top quality software for free. Please play * * fair and reciprocate by reporting any suspected issues and * * participating in the community forum: * * http://www.FreeRTOS.org/support * * * * Thank you! * * * *************************************************************************** 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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial 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; /*-----------------------------------------------------------*/ 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_INTFRCL == 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 ); }