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.
160 lines
5.1 KiB
C
160 lines
5.1 KiB
C
/*
|
|
FreeRTOS.org V5.1.2 - Copyright (C) 2003-2009 Richard Barry.
|
|
|
|
This file is part of the FreeRTOS.org distribution.
|
|
|
|
FreeRTOS.org is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
FreeRTOS.org 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. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with FreeRTOS.org; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
A special exception to the GPL can be applied should you wish to distribute
|
|
a combined work that includes FreeRTOS.org, without being obliged to provide
|
|
the source code for any proprietary components. See the licensing section
|
|
of http://www.FreeRTOS.org for full details of how and when the exception
|
|
can be applied.
|
|
|
|
***************************************************************************
|
|
***************************************************************************
|
|
* *
|
|
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
* This is a concise, step by step, 'hands on' guide that describes both *
|
|
* general multitasking concepts and FreeRTOS specifics. It presents and *
|
|
* explains numerous examples that are written using the FreeRTOS API. *
|
|
* Full source code for all the examples is provided in an accompanying *
|
|
* .zip file. *
|
|
* *
|
|
***************************************************************************
|
|
***************************************************************************
|
|
|
|
Please ensure to read the configuration and relevant port sections of the
|
|
online documentation.
|
|
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
|
contact details.
|
|
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
|
critical systems.
|
|
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
|
licensing and training services.
|
|
*/
|
|
|
|
/* Kernel includes. */
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
#define portINITIAL_FORMAT_VECTOR ( ( portSTACK_TYPE ) 0x4000 )
|
|
|
|
/* Supervisor mode set. */
|
|
#define portINITIAL_STATUS_REGISTER ( ( portSTACK_TYPE ) 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 unsigned portLONG ulCriticalNesting = 0x9999UL;
|
|
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
|
|
{
|
|
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
|
|
pxTopOfStack--;
|
|
|
|
*pxTopOfStack = (portSTACK_TYPE) 0xDEADBEEF;
|
|
pxTopOfStack--;
|
|
|
|
/* Exception stack frame starts with the return address. */
|
|
*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
|
|
pxTopOfStack--;
|
|
|
|
*pxTopOfStack = ( portINITIAL_FORMAT_VECTOR << 16UL ) | ( portINITIAL_STATUS_REGISTER );
|
|
pxTopOfStack--;
|
|
|
|
*pxTopOfStack = ( portSTACK_TYPE ) 0x0; /*FP*/
|
|
pxTopOfStack -= 14; /* A5 to D0. */
|
|
|
|
return pxTopOfStack;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
portBASE_TYPE 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_INTFRCL == 0UL )
|
|
{
|
|
break;
|
|
}
|
|
|
|
portENABLE_INTERRUPTS();
|
|
|
|
} while( 1 );
|
|
}
|
|
ulCriticalNesting++;
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortExitCritical( void )
|
|
{
|
|
ulCriticalNesting--;
|
|
if( ulCriticalNesting == 0 )
|
|
{
|
|
portENABLE_INTERRUPTS();
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
void vPortYieldHandler( void )
|
|
{
|
|
unsigned portLONG 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 );
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|