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215 lines
8.5 KiB
C
215 lines
8.5 KiB
C
/*
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FreeRTOS V8.2.2 - Copyright (C) 2015 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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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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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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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 on the following
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link: http://www.freertos.org/a00114.html
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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 is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial 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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/* Scheduler includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/*-----------------------------------------------------------
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* Implementation of functions defined in portable.h for the MSP430 port.
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*----------------------------------------------------------*/
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/* Constants required for hardware setup. The tick ISR runs off the ACLK,
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not the MCLK. */
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#define portACLK_FREQUENCY_HZ ( ( TickType_t ) 32768 )
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#define portINITIAL_CRITICAL_NESTING ( ( uint16_t ) 10 )
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#define portFLAGS_INT_ENABLED ( ( StackType_t ) 0x08 )
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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 TCB_t;
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extern volatile TCB_t * volatile pxCurrentTCB;
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/* Each task maintains a count of the critical section nesting depth. Each
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time a critical section is entered the count is incremented. Each time a
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critical section is exited the count is decremented - with interrupts only
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being re-enabled if the count is zero.
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usCriticalNesting will get set to zero when the scheduler starts, but must
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not be initialised to zero as this will cause problems during the startup
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sequence. */
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volatile uint16_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
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/*-----------------------------------------------------------*/
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/*
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* Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but
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* could have alternatively used the watchdog timer or timer 1.
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*/
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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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StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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{
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/*
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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 and can be included if required.
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*pxTopOfStack = ( StackType_t ) 0x1111;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x2222;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x3333;
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pxTopOfStack--;
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*/
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/* The msp430 automatically pushes the PC then SR onto the stack before
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executing an ISR. We want the stack to look just as if this has happened
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so place a pointer to the start of the task on the stack first - followed
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by the flags we want the task to use when it starts up. */
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*pxTopOfStack = ( StackType_t ) pxCode;
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pxTopOfStack--;
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*pxTopOfStack = portFLAGS_INT_ENABLED;
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pxTopOfStack--;
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/* Next the general purpose registers. */
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*pxTopOfStack = ( StackType_t ) 0x4444;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x5555;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x6666;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x7777;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x8888;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0x9999;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xaaaa;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xbbbb;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xcccc;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xdddd;
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pxTopOfStack--;
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*pxTopOfStack = ( StackType_t ) 0xeeee;
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pxTopOfStack--;
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/* When the task starts is will expect to find the function parameter in
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R15. */
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*pxTopOfStack = ( StackType_t ) pvParameters;
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pxTopOfStack--;
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/* A variable is used to keep track of the critical section nesting.
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This variable has to be stored as part of the task context and is
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initially set to zero. */
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*pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING;
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/* Return a pointer to the top of the stack we have generated so this can
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be stored in the task control block for the task. */
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return pxTopOfStack;
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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 MSP430 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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* Hardware initialisation to generate the RTOS tick. This uses timer 0
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* but could alternatively use the watchdog timer or timer 1.
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*/
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void prvSetupTimerInterrupt( void )
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{
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/* Ensure the timer is stopped. */
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TACTL = 0;
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/* Run the timer of the ACLK. */
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TACTL = TASSEL_1;
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/* Clear everything to start with. */
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TACTL |= TACLR;
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/* Set the compare match value according to the tick rate we want. */
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TACCR0 = portACLK_FREQUENCY_HZ / configTICK_RATE_HZ;
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/* Enable the interrupts. */
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TACCTL0 = CCIE;
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/* Start up clean. */
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TACTL |= TACLR;
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/* Up mode. */
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TACTL |= MC_1;
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}
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/*-----------------------------------------------------------*/
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