| 1 |
572 |
jeremybenn |
/*
|
| 2 |
|
|
FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
| 3 |
|
|
|
| 4 |
|
|
***************************************************************************
|
| 5 |
|
|
* *
|
| 6 |
|
|
* If you are: *
|
| 7 |
|
|
* *
|
| 8 |
|
|
* + New to FreeRTOS, *
|
| 9 |
|
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
| 10 |
|
|
* + Looking for basic training, *
|
| 11 |
|
|
* + Wanting to improve your FreeRTOS skills and productivity *
|
| 12 |
|
|
* *
|
| 13 |
|
|
* then take a look at the FreeRTOS books - available as PDF or paperback *
|
| 14 |
|
|
* *
|
| 15 |
|
|
* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
|
| 16 |
|
|
* http://www.FreeRTOS.org/Documentation *
|
| 17 |
|
|
* *
|
| 18 |
|
|
* A pdf reference manual is also available. Both are usually delivered *
|
| 19 |
|
|
* to your inbox within 20 minutes to two hours when purchased between 8am *
|
| 20 |
|
|
* and 8pm GMT (although please allow up to 24 hours in case of *
|
| 21 |
|
|
* exceptional circumstances). Thank you for your support! *
|
| 22 |
|
|
* *
|
| 23 |
|
|
***************************************************************************
|
| 24 |
|
|
|
| 25 |
|
|
This file is part of the FreeRTOS distribution.
|
| 26 |
|
|
|
| 27 |
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
| 28 |
|
|
the terms of the GNU General Public License (version 2) as published by the
|
| 29 |
|
|
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
|
| 30 |
|
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
| 31 |
|
|
a combined work that includes FreeRTOS without being obliged to provide the
|
| 32 |
|
|
source code for proprietary components outside of the FreeRTOS kernel.
|
| 33 |
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
| 34 |
|
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
| 35 |
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
| 36 |
|
|
more details. You should have received a copy of the GNU General Public
|
| 37 |
|
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
| 38 |
|
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
| 39 |
|
|
by writing to Richard Barry, contact details for whom are available on the
|
| 40 |
|
|
FreeRTOS WEB site.
|
| 41 |
|
|
|
| 42 |
|
|
1 tab == 4 spaces!
|
| 43 |
|
|
|
| 44 |
|
|
http://www.FreeRTOS.org - Documentation, latest information, license and
|
| 45 |
|
|
contact details.
|
| 46 |
|
|
|
| 47 |
|
|
http://www.SafeRTOS.com - A version that is certified for use in safety
|
| 48 |
|
|
critical systems.
|
| 49 |
|
|
|
| 50 |
|
|
http://www.OpenRTOS.com - Commercial support, development, porting,
|
| 51 |
|
|
licensing and training services.
|
| 52 |
|
|
*/
|
| 53 |
|
|
|
| 54 |
|
|
#include "FreeRTOSConfig.h"
|
| 55 |
|
|
#include "portasm.h"
|
| 56 |
|
|
|
| 57 |
|
|
|
| 58 |
|
|
.CODE
|
| 59 |
|
|
|
| 60 |
|
|
/*
|
| 61 |
|
|
* The RTOS tick ISR.
|
| 62 |
|
|
*
|
| 63 |
|
|
* If the cooperative scheduler is in use this simply increments the tick
|
| 64 |
|
|
* count.
|
| 65 |
|
|
*
|
| 66 |
|
|
* If the preemptive scheduler is in use a context switch can also occur.
|
| 67 |
|
|
*/
|
| 68 |
|
|
_vTickISR:
|
| 69 |
|
|
portSAVE_CONTEXT
|
| 70 |
|
|
|
| 71 |
|
|
call #_vTaskIncrementTick
|
| 72 |
|
|
|
| 73 |
|
|
#if configUSE_PREEMPTION == 1
|
| 74 |
|
|
call #_vTaskSwitchContext
|
| 75 |
|
|
#endif
|
| 76 |
|
|
|
| 77 |
|
|
portRESTORE_CONTEXT
|
| 78 |
|
|
/*-----------------------------------------------------------*/
|
| 79 |
|
|
|
| 80 |
|
|
|
| 81 |
|
|
/*
|
| 82 |
|
|
* Manual context switch called by the portYIELD() macro.
|
| 83 |
|
|
*/
|
| 84 |
|
|
_vPortYield::
|
| 85 |
|
|
|
| 86 |
|
|
/* Mimic an interrupt by pushing the SR. */
|
| 87 |
|
|
push SR
|
| 88 |
|
|
|
| 89 |
|
|
/* Now the SR is stacked we can disable interrupts. */
|
| 90 |
|
|
dint
|
| 91 |
|
|
|
| 92 |
|
|
/* Save the context of the current task. */
|
| 93 |
|
|
portSAVE_CONTEXT
|
| 94 |
|
|
|
| 95 |
|
|
/* Switch to the highest priority task that is ready to run. */
|
| 96 |
|
|
call #_vTaskSwitchContext
|
| 97 |
|
|
|
| 98 |
|
|
/* Restore the context of the new task. */
|
| 99 |
|
|
portRESTORE_CONTEXT
|
| 100 |
|
|
/*-----------------------------------------------------------*/
|
| 101 |
|
|
|
| 102 |
|
|
|
| 103 |
|
|
/*
|
| 104 |
|
|
* Start off the scheduler by initialising the RTOS tick timer, then restoring
|
| 105 |
|
|
* the context of the first task.
|
| 106 |
|
|
*/
|
| 107 |
|
|
_xPortStartScheduler::
|
| 108 |
|
|
|
| 109 |
|
|
/* Setup the hardware to generate the tick. Interrupts are disabled
|
| 110 |
|
|
when this function is called. */
|
| 111 |
|
|
call #_prvSetupTimerInterrupt
|
| 112 |
|
|
|
| 113 |
|
|
/* Restore the context of the first task that is going to run. */
|
| 114 |
|
|
portRESTORE_CONTEXT
|
| 115 |
|
|
/*-----------------------------------------------------------*/
|
| 116 |
|
|
|
| 117 |
|
|
|
| 118 |
|
|
/* Place the tick ISR in the correct vector. */
|
| 119 |
|
|
.VECTORS
|
| 120 |
|
|
|
| 121 |
|
|
.KEEP
|
| 122 |
|
|
|
| 123 |
|
|
ORG TIMERA0_VECTOR
|
| 124 |
|
|
DW _vTickISR
|
| 125 |
|
|
|
| 126 |
|
|
|
| 127 |
|
|
|
| 128 |
|
|
END
|
| 129 |
|
|
|
