You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
149 lines
4.2 KiB
C
149 lines
4.2 KiB
C
/*
|
|
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
|
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
*
|
|
* SPDX-License-Identifier: MIT
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
|
* this software and associated documentation files (the "Software"), to deal in
|
|
* the Software without restriction, including without limitation the rights to
|
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
|
* subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*
|
|
* https://www.FreeRTOS.org
|
|
* https://github.com/FreeRTOS
|
|
*
|
|
*/
|
|
|
|
/* 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;
|
|
|
|
|
|
#define portSAVE_CONTEXT() \
|
|
lea.l (-60, %sp), %sp; \
|
|
movem.l %d0-%fp, (%sp); \
|
|
move.l pxCurrentTCB, %a0; \
|
|
move.l %sp, (%a0);
|
|
|
|
#define portRESTORE_CONTEXT() \
|
|
move.l pxCurrentTCB, %a0; \
|
|
move.l (%a0), %sp; \
|
|
movem.l (%sp), %d0-%fp; \
|
|
lea.l %sp@(60), %sp; \
|
|
rte
|
|
|
|
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
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_INTFRCH == 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 );
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|