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175 lines
5.9 KiB
Plaintext
175 lines
5.9 KiB
Plaintext
/*
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FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that has become a de facto standard. *
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* *
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* Help yourself get started quickly and support the FreeRTOS *
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* project by purchasing a FreeRTOS tutorial book, reference *
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* manual, or both from: http://www.FreeRTOS.org/Documentation *
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* *
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* Thank you! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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>>! NOTE: The modification to the GPL is included to allow you to distribute
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>>! a combined work that includes FreeRTOS without being obliged to provide
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>>! the source code for proprietary components outside of the FreeRTOS
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>>! kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available from the following
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link: http://www.freertos.org/a00114.html
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1 tab == 4 spaces!
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***************************************************************************
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* *
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* Having a problem? Start by reading the FAQ "My application does *
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* not run, what could be wrong?" *
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* *
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* http://www.FreeRTOS.org/FAQHelp.html *
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* *
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***************************************************************************
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http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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license and Real Time Engineers Ltd. contact details.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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#include "msp430.h"
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#include "FreeRTOSConfig.h"
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#include "data_model.h"
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IMPORT xTaskIncrementTick
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IMPORT vTaskSwitchContext
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IMPORT vPortSetupTimerInterrupt
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IMPORT pxCurrentTCB
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IMPORT usCriticalNesting
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EXPORT vPortTickISR
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EXPORT vPortYield
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EXPORT xPortStartScheduler
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portSAVE_CONTEXT macro
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/* Save the remaining registers. */
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pushm_x #12, r15
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mov.w &usCriticalNesting, r14
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push_x r14
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mov_x &pxCurrentTCB, r12
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mov_x sp, 0( r12 )
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endm
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/*-----------------------------------------------------------*/
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portRESTORE_CONTEXT macro
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mov_x &pxCurrentTCB, r12
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mov_x @r12, sp
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pop_x r15
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mov.w r15, &usCriticalNesting
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popm_x #12, r15
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pop.w sr
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reta
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endm
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/*-----------------------------------------------------------*/
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/*
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* The RTOS tick ISR.
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*
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* If the cooperative scheduler is in use this simply increments the tick
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* count.
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*
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* If the preemptive scheduler is in use a context switch can also occur.
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*/
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RSEG CODE
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EVEN
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vPortTickISR:
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/* The sr is not saved in portSAVE_CONTEXT() because vPortYield() needs
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to save it manually before it gets modified (interrupts get disabled).
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Entering through this interrupt means the SR is already on the stack, but
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this keeps the stack frames identical. */
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push.w sr
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portSAVE_CONTEXT
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calla #xTaskIncrementTick
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cmp.w #0x0, R12
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jeq SkipContextSwitch
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calla #vTaskSwitchContext
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SkipContextSwitch:
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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/*
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* Manual context switch called by the portYIELD() macro.
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*/
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EVEN
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vPortYield:
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/* The sr needs saving before it is modified. */
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push.w sr
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/* Now the SR is stacked we can disable interrupts. */
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dint
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nop
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/* Save the context of the current task. */
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portSAVE_CONTEXT
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/* Select the next task to run. */
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calla #vTaskSwitchContext
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/* Restore the context of the new task. */
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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/*
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* Start off the scheduler by initialising the RTOS tick timer, then restoring
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* the context of the first task.
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*/
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EVEN
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xPortStartScheduler:
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/* Setup the hardware to generate the tick. Interrupts are disabled
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when this function is called. */
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calla #vPortSetupTimerInterrupt
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/* Restore the context of the first task that is going to run. */
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portRESTORE_CONTEXT
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/*-----------------------------------------------------------*/
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END
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