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/*
FreeRTOS.org V5.1.1 - 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.
***************************************************************************
***************************************************************************
* *
* SAVE TIME AND MONEY! We can port FreeRTOS.org to your own hardware, *
* and even write all or part of your application on your behalf. *
* See http://www.OpenRTOS.com for details of the services we provide to *
* expedite your project. *
* *
***************************************************************************
***************************************************************************
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.
*/
/* Standard includes. */
#include <stdlib.h>
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#define portINITIAL_CRITICAL_NESTING (( unsigned portSHORT ) 10)
/* default Initialization of the PSW for the task:
* 1100011000000000
* ||||||||-------------- Fill byte
* |||||||--------------- Cary Flag cleared
* |||||----------------- In-service priority Flags set to low level
* ||||------------------ Register bank Select 0 Flag cleared
* |||------------------- Auxiliary Cary Flag cleared
* ||-------------------- Register bank Select 1 Flag cleared
* |--------------------- Zero Flag set
* ---------------------- Global Interrupt Flag set
*/
#define portPSW (( portSTACK_TYPE ) 0xC600)
/* We require the address of the pxCurrentTCB variable, but don't want to know
any details of its type. */
typedef void tskTCB;
extern volatile tskTCB * volatile pxCurrentTCB;
/* Most ports implement critical sections by placing the interrupt flags on
* the stack before disabling interrupts. Exiting the critical section is then
* simply a case of popping the flags from the stack. As 78K0 IAR does not use
* a frame pointer this cannot be done as modifying the stack will clobber all
* the stack variables. Instead each task maintains a count of the critical
* section nesting depth. Each time a critical section is entered the count is
* incremented. Each time a critical section is left the count is decremented -
* with interrupts only being re-enabled if the count is zero.
*
* usCriticalNesting will get set to zero when the scheduler starts, but must
* not be initialised to zero as this will cause problems during the startup
* sequence.
*/
volatile unsigned portSHORT usCriticalNesting = portINITIAL_CRITICAL_NESTING;
/*-----------------------------------------------------------*/
__interrupt void MD_INTTM05( void );
/*
* Sets up the periodic ISR used for the RTOS tick. This uses timer 0, but
* could have alternatively used the watchdog timer or timer 1.
*/
static void prvSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/
/*
* Initialise the stack of a task to look exactly as if a call to
* portSAVE_CONTEXT had been called.
*
* See the header file portable.h.
*/
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
unsigned portLONG *pxLocal;
/*
* The 78K0R/Kx3 automatically pushes the PSW then PC onto the stack before
* executing an ISR. We want the stack to look just as if this has happened
* so place a pointer to the start of the task on the stack first - followed
* by the flags we want the task to use when it starts up.
*/
#if configMEMORY_MODE == 1
pxTopOfStack--;
pxLocal = (unsigned portLONG*) pxTopOfStack;
*pxLocal = (unsigned portLONG) pvParameters;
pxTopOfStack--;
/* dummy are on the stack cause there normaly the return adress of the funtion
* is written. Can be a dummy cause the function will never end but only be
* yielded an reentered
*/
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xcdcd;
pxTopOfStack--;
pxTopOfStack--;
/* task function start address */
pxLocal = (unsigned portLONG*) pxTopOfStack;
*pxLocal = (unsigned portLONG) pxCode;
pxTopOfStack--;
/* write initial value of the PSW */
*pxTopOfStack = portPSW;
pxTopOfStack--;
/* Next general purpose register AX */
*pxTopOfStack = ( portSTACK_TYPE ) 0x1111;
pxTopOfStack--;
#else
pxTopOfStack--;
/* task function start address */
pxLocal = (unsigned portLONG*) pxTopOfStack;
*pxLocal = (unsigned portLONG) pxCode;
pxTopOfStack--;
/* write initial value of the PSW */
*pxTopOfStack = portPSW;
pxTopOfStack--;
/* Next general purpose registers AX with the task function parameter start address */
*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
pxTopOfStack--;
#endif
*pxTopOfStack = ( portSTACK_TYPE ) 0x2222;
pxTopOfStack--;
/* save the CS and ES register */
*pxTopOfStack = ( portSTACK_TYPE ) 0x0F00;
pxTopOfStack--;
/* Next the remaining general purpose registers DE and BC */
*pxTopOfStack = ( portSTACK_TYPE ) 0xDEDE;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 0xBCBC;
pxTopOfStack--;
*pxTopOfStack = ( portSTACK_TYPE ) 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;
}
/*-----------------------------------------------------------*/
portBASE_TYPE 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 78K0R/Kx3 port will get stopped. If required simply
disable the tick interrupt here. */
}
/*-----------------------------------------------------------*/
/*
* Hardware initialisation to generate the RTOS tick. This uses Channel 5 of
* the Timer Array Unit (TAU). Any other Channel could also be used.
*/
static void prvSetupTimerInterrupt( void )
{
/* First the Timer Array Unit has to be enabled */
TAU0EN = 1;
/* To configure the Timer Array Unit all Channels have to been stopped */
TT0 = 0xff;
/* Interrupt of Timer Array Unit Channel 5 disabled to set Interrupt Priority */
TMMK05 = 1;
/* Clear Timer Array Unit Channel 5 Interrupt Flag */
TMIF05 = 0;
/* Set Timer Array Unit Channel 5 Interrupt Priority */
TMPR005 = 0;
TMPR105 = 0;
/* Set Timer Array Unit Channel 5 Mode as Interval Timer */
TMR05 = 0x0000;
/* Set the compare match value according to the tick rate we want. */
TDR05 = (portTickType) (configCPU_CLOCK_HZ / configTICK_RATE_HZ);
/* Set Timer Array Unit Channel 5 Output Mode */
TOM0 &= ~0x0020;
/* Set Timer Array Unit Channel 5 Output Level */
TOL0 &= ~0x0020;
/* Set Timer Array Unit Channel 5 Output Enable */
TOE0 &= ~0x0020;
/* Interrupt of Timer Array Unit Channel 5 enabled */
TMMK05 = 0;
/* Set Timer Array Unit Channel 5 Start*/
TS0 |= 0x0020;
}
/*-----------------------------------------------------------*/
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