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353 lines
11 KiB
C
353 lines
11 KiB
C
17 years ago
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/*
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FreeRTOS.org V4.7.1 - Copyright (C) 2003-2008 Richard Barry.
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This file is part of the FreeRTOS.org distribution.
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FreeRTOS.org is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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FreeRTOS.org is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with FreeRTOS.org; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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A special exception to the GPL can be applied should you wish to distribute
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a combined work that includes FreeRTOS.org, without being obliged to provide
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the source code for any proprietary components. See the licensing section
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of http://www.FreeRTOS.org for full details of how and when the exception
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can be applied.
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***************************************************************************
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Please ensure to read the configuration and relevant port sections of the
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online documentation.
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+++ http://www.FreeRTOS.org +++
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Documentation, latest information, license and contact details.
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+++ http://www.SafeRTOS.com +++
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A version that is certified for use in safety critical systems.
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+++ http://www.OpenRTOS.com +++
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Commercial support, development, porting, licensing and training services.
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***************************************************************************
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "mb91467d.h"
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/*-----------------------------------------------------------*/
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/* We require the address of the pxCurrentTCB variable, but don't want to know
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any details of its type. */
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typedef void tskTCB;
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extern volatile tskTCB * volatile pxCurrentTCB;
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/*-----------------------------------------------------------*/
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#pragma asm
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#macro SaveContext
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ORCCR #0x20 ;Switch to user stack
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ST RP,@-R15 ;Store RP
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STM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Store R7-R0
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STM1 (R14,R13,R12,R11,R10,R9,R8) ;Store R14-R8
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ST MDH, @-R15 ;Store MDH
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ST MDL, @-R15 ;Store MDL
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ANDCCR #0xDF ;Switch back to system stack
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LD @R15+,R0 ;Store PC to R0
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ORCCR #0x20 ;Switch to user stack
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ST R0,@-R15 ;Store PC to User stack
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ANDCCR #0xDF ;Switch back to system stack
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LD @R15+,R0 ;Store PS to R0
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ORCCR #0x20 ;Switch to user stack
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ST R0,@-R15 ;Store PS to User stack
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LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address
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LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address
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ST R15,@R0 ;Store USP to pxCurrentTCB->pxTopOfStack
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ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR
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#endm
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#macro RestoreContext
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LDI #_pxCurrentTCB, R0 ;Get pxCurrentTCB address
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LD @R0, R0 ;Get the pxCurrentTCB->pxTopOfStack address
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ORCCR #0x20 ;Switch to user stack
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LD @R0, R15 ;Restore USP from pxCurrentTCB->pxTopOfStack
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LD @R15+,R0 ;Store PS to R0
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ANDCCR #0xDF ;Switch to system stack
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ST R0,@-R15 ;Store PS to system stack
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ORCCR #0x20 ;Switch to user stack
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LD @R15+,R0 ;Store PC to R0
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ANDCCR #0xDF ;Switch to system stack
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ST R0,@-R15 ;Store PC to system stack
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ORCCR #0x20 ;Switch back to retreive the remaining context
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LD @R15+, MDL ;Restore MDL
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LD @R15+, MDH ;Restore MDH
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LDM1 (R14,R13,R12,R11,R10,R9,R8) ;Restore R14-R8
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LDM0 (R7,R6,R5,R4,R3,R2,R1,R0) ;Restore R7-R0
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LD @R15+, RP ;Restore RP
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ANDCCR #0xDF ;Switch back to system stack for the rest of tick ISR
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#endm
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#pragma endasm
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/*-----------------------------------------------------------*/
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/*
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* Perform hardware setup to enable ticks from timer 1,
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*/
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static void prvSetupTimerInterrupt( void );
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/*-----------------------------------------------------------*/
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/*
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* Initialise the stack of a task to look exactly as if a call to
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* portSAVE_CONTEXT had been called.
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*
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* See the header file portable.h.
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*/
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portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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{
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unsigned portSHORT usAddress;
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/* Place a few bytes of known values on the bottom of the stack.
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This is just useful for debugging. */
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*pxTopOfStack = 0x11111111;
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pxTopOfStack--;
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*pxTopOfStack = 0x22222222;
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pxTopOfStack--;
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*pxTopOfStack = 0x33333333;
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pxTopOfStack--;
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/* This is a redundant push to the stack, it may be required if in some implentation of the compiler
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the parameter to the task is passed on to the stack rather than in R4 register*/
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*pxTopOfStack = (portSTACK_TYPE)(pvParameters);
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00000000; /* RP */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00007777; /* R7 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00006666; /* R6 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00005555; /* R5 */
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pxTopOfStack--;
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/* In the current implemention of the compiler the first parameter to the task(or function) is passed
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via R4 parameter to the task, hennce the pvParameters pointer is copied in R4 regsiter. See compiler
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manual section 4.6.2 for more information.*/
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*pxTopOfStack = ( portSTACK_TYPE ) (pvParameters); /* R4 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00003333; /* R3 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00002222; /* R2 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00001111; /* R1 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00000001; /* R0 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0000EEEE; /* R14 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0000DDDD; /* R13 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0000CCCC; /* R12 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0000BBBB; /* R11 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x0000AAAA; /* R10 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00009999; /* R9 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00008888; /* R8 */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x11110000; /* MDH */
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x22220000; /* MDL */
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pxTopOfStack--;
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usAddress = ( unsigned portSHORT ) pxCode;
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*pxTopOfStack = ( portSTACK_TYPE ) usAddress ; /* PC */
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pxTopOfStack--;
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/* PS - User Mode, USP, ILM=31, Interrupts enabled */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x001F0030; /* PS */
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return pxTopOfStack;
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}
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/*-----------------------------------------------------------*/
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portBASE_TYPE xPortStartScheduler( void )
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{
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/* Setup the hardware to generate the tick. */
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prvSetupTimerInterrupt();
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/* Restore the context of the first task that is going to run. */
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#pragma asm
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RestoreContext
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#pragma endasm
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/* Simulate a function call end as generated by the compiler. We will now
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jump to the start of the task the context of which we have just restored. */
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__asm(" reti ");
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/* Should not get here. */
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return pdTRUE;
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}
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/*-----------------------------------------------------------*/
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void vPortEndScheduler( void )
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{
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/* It is unlikely that the AVR port will get stopped. If required simply
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disable the tick interrupt here. */
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}
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/*-----------------------------------------------------------*/
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/*
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* Setup RLT0 to generate a tick interrupt.
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*/
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static void prvSetupTimerInterrupt( void )
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{
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TMCSR0_CNTE=0; /* Count Disable */
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TMCSR0_CSL=0x2; /* CLKP/32 */
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TMCSR0_MOD=0; /* Software trigger */
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TMCSR0_RELD=1; /* Reload */
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TMCSR0_UF=0; /* Clear underflow flag */
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//TMRLR0=0x1F3; /* Tick = 1 ms*/
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TMRLR0=0x1387; /* Tick = 10 ms*/
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TMCSR0_INTE=1; /* Interrupt Enable */
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TMCSR0_CNTE=1; /* Count Enable */
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TMCSR0_TRG=1; /* Trigger */
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PORTEN = 0x3; /* Port Enable */
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}
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/*-----------------------------------------------------------*/
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#if configUSE_PREEMPTION == 1
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/*
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* Tick ISR for preemptive scheduler. The tick count is incremented
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* after the context is saved. Then the context is switched if required,
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* at last the context of the task which is to be resume is restored.
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*/
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#pragma asm
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.global _ReloadTimer0_IRQHandler
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_ReloadTimer0_IRQHandler:
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ANDCCR #0xEF ;Disable Interrupts
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SaveContext ;Save context
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ORCCR #0x10 ;Re-enable Interrupts
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LDI #0xFFFB,R1
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LDI #_tmcsr0, R0
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AND R1,@R0 ;Clear RLT0 interrupt flag
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CALL32 _vTaskIncrementTick,R12 ;Increment Tick
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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ANDCCR #0xEF ;Disable Interrupts
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RestoreContext ;Restore context
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ORCCR #0x10 ;Re-enable Interrupts
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RETI
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#pragma endasm
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#else
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/*
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* Tick ISR for the cooperative scheduler. All this does is increment the
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* tick count. We don't need to switch context, this can only be done by
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* manual calls to taskYIELD();
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*/
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__interrupt void ReloadTimer0_IRQHandler( void )
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{
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/* Clear RLT0 interrupt flag */
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TMCSR0_UF = 0;
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vTaskIncrementTick();
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}
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#endif
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/*
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* Manual context switch. We can use a __nosavereg attribute as the context
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* would be saved by PortSAVE_CONTEXT(). The context is switched and then
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* the context of the new task is restored saved.
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*/
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#pragma asm
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.global _vPortYieldDelayed
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_vPortYieldDelayed:
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ANDCCR #0xEF ;Disable Interrupts
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SaveContext ;Save context
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ORCCR #0x10 ;Re-enable Interrupts
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LDI #_dicr, R0
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BANDL #0x0E, @R0 ;Clear Delayed interrupt flag
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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ANDCCR #0xEF ;Disable Interrupts
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RestoreContext ;Restore context
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ORCCR #0x10 ;Re-enable Interrupts
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RETI
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#pragma endasm
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/*
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* Manual context switch. We can use a __nosavereg attribute as the context
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* would be saved by PortSAVE_CONTEXT(). The context is switched and then
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* the context of the new task is restored saved.
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*/
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#pragma asm
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.global _vPortYield
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_vPortYield:
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SaveContext ;Save context
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CALL32 _vTaskSwitchContext,R12 ;Switch context if required
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RestoreContext ;Restore context
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RETI
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#pragma endasm
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