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/*
FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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 on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial 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 <stdlib.h>
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Machine includes */
#include <machine/counter.h>
#include <machine/ic.h>
/*-----------------------------------------------------------*/
/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
#define portINITIAL_PSR ( 0x00020000 )
/*-----------------------------------------------------------*/
/*
* Perform any hardware configuration necessary to generate the tick interrupt.
*/
static void prvSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/
StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
/* Make space on the stack for the context - this leaves a couple of spaces
empty. */
pxTopOfStack -= 20;
/* Fill the registers with known values to assist debugging. */
pxTopOfStack[ 16 ] = 0;
pxTopOfStack[ 15 ] = portINITIAL_PSR;
pxTopOfStack[ 14 ] = ( uint32_t ) pxCode;
pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */
pxTopOfStack[ 11 ] = 0x0d0d0d0dUL;
pxTopOfStack[ 10 ] = 0x0c0c0c0cUL;
pxTopOfStack[ 9 ] = 0x0b0b0b0bUL;
pxTopOfStack[ 8 ] = 0x0a0a0a0aUL;
pxTopOfStack[ 7 ] = 0x09090909UL;
pxTopOfStack[ 6 ] = 0x08080808UL;
pxTopOfStack[ 5 ] = 0x07070707UL;
pxTopOfStack[ 4 ] = 0x06060606UL;
pxTopOfStack[ 3 ] = 0x05050505UL;
pxTopOfStack[ 2 ] = 0x04040404UL;
pxTopOfStack[ 1 ] = 0x03030303UL;
pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters;
return pxTopOfStack;
}
/*-----------------------------------------------------------*/
BaseType_t xPortStartScheduler( void )
{
/* Set-up the timer interrupt. */
prvSetupTimerInterrupt();
/* Integrated Interrupt Controller: Enable all interrupts. */
ic->ien = 1;
/* Restore callee saved registers. */
portRESTORE_CONTEXT();
/* Should not get here. */
return 0;
}
/*-----------------------------------------------------------*/
static void prvSetupTimerInterrupt( void )
{
/* Enable timer interrupts */
counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
counter1->value = counter1->reload;
counter1->mask = 1;
/* Set the IRQ Handler priority and enable it. */
irq[ IRQ_COUNTER1 ].ien = 1;
}
/*-----------------------------------------------------------*/
/* Trap 31 handler. */
void interrupt31_handler( void ) __attribute__((naked));
void interrupt31_handler( void )
{
portSAVE_CONTEXT();
__asm volatile ( "call vTaskSwitchContext" );
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
static void prvProcessTick( void ) __attribute__((noinline));
static void prvProcessTick( void )
{
if( xTaskIncrementTick() != pdFALSE )
{
vTaskSwitchContext();
}
/* Clear the Tick Interrupt. */
counter1->expired = 0;
}
/*-----------------------------------------------------------*/
/* Timer 1 interrupt handler, used for tick interrupt. */
void interrupt7_handler( void ) __attribute__((naked));
void interrupt7_handler( void )
{
portSAVE_CONTEXT();
prvProcessTick();
portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/
void vPortEndScheduler( void )
{
/* Nothing to do. Unlikely to want to end. */
}
/*-----------------------------------------------------------*/
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