/* FreeRTOS V8.1.1 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that has become a de facto standard. * * * * Help yourself get started quickly and support the FreeRTOS * * project by purchasing a FreeRTOS tutorial book, reference * * manual, or both from: http://www.FreeRTOS.org/Documentation * * * * Thank you! * * * *************************************************************************** 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 from 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?" * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and 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! */ /* Standard includes. */ #include /* Scheduler includes. */ #include "FreeRTOS.h" #include "task.h" /* Critical nesting should be initialised to a non zero value so interrupts don't accidentally get enabled before the scheduler is started. */ #define portINITIAL_CRITICAL_NESTING (( StackType_t ) 10) /* The PSW value assigned to tasks when they start to run for the first time. */ #define portPSW (( StackType_t ) 0x00000000) /* We require the address of the pxCurrentTCB variable, but don't want to know any details of its type. */ typedef void TCB_t; extern volatile TCB_t * volatile pxCurrentTCB; /* Keeps track of the nesting level of critical sections. */ volatile StackType_t usCriticalNesting = portINITIAL_CRITICAL_NESTING; /*-----------------------------------------------------------*/ /* Sets up the timer to generate the tick interrupt. */ static void prvSetupTimerInterrupt( void ); /*-----------------------------------------------------------*/ StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) { *pxTopOfStack = ( StackType_t ) pxCode; /* Task function start address */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) pxCode; /* Task function start address */ pxTopOfStack--; *pxTopOfStack = portPSW; /* Initial PSW value */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x20202020; /* Initial Value of R20 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x21212121; /* Initial Value of R21 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x22222222; /* Initial Value of R22 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x23232323; /* Initial Value of R23 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x24242424; /* Initial Value of R24 */ pxTopOfStack--; #if (__DATA_MODEL__ == 0) || (__DATA_MODEL__ == 1) *pxTopOfStack = ( StackType_t ) 0x25252525; /* Initial Value of R25 */ pxTopOfStack--; #endif /* configDATA_MODE */ *pxTopOfStack = ( StackType_t ) 0x26262626; /* Initial Value of R26 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x27272727; /* Initial Value of R27 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x28282828; /* Initial Value of R28 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x29292929; /* Initial Value of R29 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x30303030; /* Initial Value of R30 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x19191919; /* Initial Value of R19 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x18181818; /* Initial Value of R18 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x17171717; /* Initial Value of R17 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x16161616; /* Initial Value of R16 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x15151515; /* Initial Value of R15 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x14141414; /* Initial Value of R14 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x13131313; /* Initial Value of R13 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x12121212; /* Initial Value of R12 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x11111111; /* Initial Value of R11 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x10101010; /* Initial Value of R10 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x99999999; /* Initial Value of R09 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x88888888; /* Initial Value of R08 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x77777777; /* Initial Value of R07 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x66666666; /* Initial Value of R06 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) 0x55555555; /* Initial Value of R05 */ pxTopOfStack--; #if __DATA_MODEL__ == 0 || __DATA_MODEL__ == 1 *pxTopOfStack = ( StackType_t ) 0x44444444; /* Initial Value of R04 */ pxTopOfStack--; #endif /* configDATA_MODE */ *pxTopOfStack = ( StackType_t ) 0x22222222; /* Initial Value of R02 */ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 is expected to hold the function parameter*/ pxTopOfStack--; *pxTopOfStack = ( StackType_t ) portNO_CRITICAL_SECTION_NESTING; /* * Return a pointer to the top of the stack we have generated so this can * be stored in the task control block for the task. */ return pxTopOfStack; } /*-----------------------------------------------------------*/ BaseType_t xPortStartScheduler( void ) { /* Setup the hardware to generate the tick. Interrupts are disabled when this function is called. */ prvSetupTimerInterrupt(); /* Restore the context of the first task that is going to run. */ vPortStart(); /* Should not get here as the tasks are now running! */ return pdTRUE; } /*-----------------------------------------------------------*/ void vPortEndScheduler( void ) { /* It is unlikely that the V850ES/Fx3 port will get stopped. If required simply disable the tick interrupt here. */ } /*-----------------------------------------------------------*/ /* * Hardware initialisation to generate the RTOS tick. This uses */ static void prvSetupTimerInterrupt( void ) { TM0CE = 0; /* TMM0 operation disable */ TM0EQMK0 = 1; /* INTTM0EQ0 interrupt disable */ TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ #ifdef __IAR_V850ES_Fx3__ { TM0CMP0 = (((configCPU_CLOCK_HZ / configTICK_RATE_HZ) / 2)-1); /* divided by 2 because peripherals only run at CPU_CLOCK/2 */ } #else { TM0CMP0 = (configCPU_CLOCK_HZ / configTICK_RATE_HZ); } #endif TM0EQIC0 &= 0xF8; TM0CTL0 = 0x00; TM0EQIF0 = 0; /* clear INTTM0EQ0 interrupt flag */ TM0EQMK0 = 0; /* INTTM0EQ0 interrupt enable */ TM0CE = 1; /* TMM0 operation enable */ } /*-----------------------------------------------------------*/