/* 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! */ #include "msp430.h" #include "FreeRTOSConfig.h" #include "data_model.h" IMPORT xTaskIncrementTick IMPORT vTaskSwitchContext IMPORT vPortSetupTimerInterrupt IMPORT pxCurrentTCB IMPORT usCriticalNesting EXPORT vPortTickISR EXPORT vPortYield EXPORT xPortStartScheduler portSAVE_CONTEXT macro /* Save the remaining registers. */ pushm_x #12, r15 mov.w &usCriticalNesting, r14 push_x r14 mov_x &pxCurrentTCB, r12 mov_x sp, 0( r12 ) endm /*-----------------------------------------------------------*/ portRESTORE_CONTEXT macro mov_x &pxCurrentTCB, r12 mov_x @r12, sp pop_x r15 mov.w r15, &usCriticalNesting popm_x #12, r15 pop.w sr reta endm /*-----------------------------------------------------------*/ /* * 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. */ RSEG CODE EVEN vPortTickISR: /* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs to save it manually before it gets modified (interrupts get disabled). Entering through this interrupt means the SR is already on the stack, but this keeps the stack frames identical. */ push.w sr portSAVE_CONTEXT calla #xTaskIncrementTick cmp.w #0x0, R12 jeq SkipContextSwitch calla #vTaskSwitchContext SkipContextSwitch: portRESTORE_CONTEXT /*-----------------------------------------------------------*/ /* * Manual context switch called by the portYIELD() macro. */ EVEN vPortYield: /* The sr needs saving before it is modified. */ push.w sr /* Now the SR is stacked we can disable interrupts. */ dint nop /* Save the context of the current task. */ portSAVE_CONTEXT /* Select the next task to run. */ calla #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. */ EVEN xPortStartScheduler: /* Setup the hardware to generate the tick. Interrupts are disabled when this function is called. */ calla #vPortSetupTimerInterrupt /* Restore the context of the first task that is going to run. */ portRESTORE_CONTEXT /*-----------------------------------------------------------*/ END