text: /*
      FreeRTOS V7.6.0 - Copyright (C) 2013 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!
  */
  
  /*-----------------------------------------------------------
   * Implementation of functions defined in portable.h for the RX200 port.
   *----------------------------------------------------------*/
  
  /* Scheduler includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  
  /* Library includes. */
  #include "string.h"
  
  /* Hardware specifics. */
  #include "iodefine.h"
  
  /*-----------------------------------------------------------*/
  
  /* Tasks should start with interrupts enabled and in Supervisor mode, therefore 
  PSW is set with U and I set, and PM and IPL clear. */
  #define portINITIAL_PSW     ( ( portSTACK_TYPE ) 0x00030000 )
  
  /*-----------------------------------------------------------*/
  
  /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
   and therefore installed in the vector table, when the FreeRTOS code is built
  as a library. */
  extern portBASE_TYPE vSoftwareInterruptEntry;
  const portBASE_TYPE * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
  
  /*-----------------------------------------------------------*/
  
  /*
   * Function to start the first task executing - written in asm code as direct
   * access to registers is required. 
   */
  static void prvStartFirstTask( void );
  
  /*
   * Software interrupt handler.  Performs the actual context switch (saving and
   * restoring of registers).  Written in asm code as direct register access is
   * required.
   */
  static void prvYieldHandler( void );
  
  /*
   * The entry point for the software interrupt handler.  This is the function
   * that calls the inline asm function prvYieldHandler().  It is installed in 
   * the vector table, but the code that installs it is in prvYieldHandler rather
   * than using a #pragma.
   */
  void vSoftwareInterruptISR( void );
  
  /*-----------------------------------------------------------*/
  
  /* This is accessed by the inline assembler functions so is file scope for
  convenience. */
  extern void *pxCurrentTCB;
  extern void vTaskSwitchContext( void );
  
  /*-----------------------------------------------------------*/
  
  /* 
   * See header file for description. 
   */
  portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
  {
  	/* Offset to end up on 8 byte boundary. */
  	pxTopOfStack--;
  
  	/* R0 is not included as it is the stack pointer. */
  	*pxTopOfStack = 0x00;
  	pxTopOfStack--;
      *pxTopOfStack = 0x00;
  	pxTopOfStack--;
   	*pxTopOfStack = portINITIAL_PSW;
  	pxTopOfStack--;
  	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;
  
  	/* When debugging it can be useful if every register is set to a known
  	value.  Otherwise code space can be saved by just setting the registers
  	that need to be set. */
  	#ifdef USE_FULL_REGISTER_INITIALISATION
  	{
  		pxTopOfStack--;
  		*pxTopOfStack = 0x12345678;	/* r15. */
  		pxTopOfStack--;
  		*pxTopOfStack = 0xaaaabbbb;
  		pxTopOfStack--;
  		*pxTopOfStack = 0xdddddddd;
  		pxTopOfStack--;
  		*pxTopOfStack = 0xcccccccc;
  		pxTopOfStack--;
  		*pxTopOfStack = 0xbbbbbbbb;
  		pxTopOfStack--;
  		*pxTopOfStack = 0xaaaaaaaa;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x99999999;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x88888888;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x77777777;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x66666666;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x55555555;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x44444444;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x33333333;
  		pxTopOfStack--;
  		*pxTopOfStack = 0x22222222;
  		pxTopOfStack--;
  	}
  	#else
  	{
  		pxTopOfStack -= 15;
  	}
  	#endif
  	
  	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 */
  	pxTopOfStack--;				
  	*pxTopOfStack = 0x12345678; /* Accumulator. */
  	pxTopOfStack--;
  	*pxTopOfStack = 0x87654321; /* Accumulator. */
  
  	return pxTopOfStack;
  }
  /*-----------------------------------------------------------*/
  
  portBASE_TYPE xPortStartScheduler( void )
  {
  extern void vApplicationSetupTimerInterrupt( void );
  
  	/* Use pxCurrentTCB just so it does not get optimised away. */
  	if( pxCurrentTCB != NULL )
  	{
  		/* Call an application function to set up the timer that will generate the
  		tick interrupt.  This way the application can decide which peripheral to 
  		use.  A demo application is provided to show a suitable example. */
  		vApplicationSetupTimerInterrupt();
  
  		/* Enable the software interrupt. */		
  		_IEN( _ICU_SWINT ) = 1;
  		
  		/* Ensure the software interrupt is clear. */
  		_IR( _ICU_SWINT ) = 0;
  		
  		/* Ensure the software interrupt is set to the kernel priority. */
  		_IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
  	
  		/* Start the first task. */
  		prvStartFirstTask();
  	}
  
  	/* Just to make sure the function is not optimised away. */
  	( void ) vSoftwareInterruptISR();
  
  	/* Should not get here. */
  	return pdFAIL;
  }
  /*-----------------------------------------------------------*/
  
  #pragma inline_asm prvStartFirstTask
  static void prvStartFirstTask( void )
  {
  	/* When starting the scheduler there is nothing that needs moving to the
  	interrupt stack because the function is not called from an interrupt.
  	Just ensure the current stack is the user stack. */
  	SETPSW	U
  
  	/* Obtain the location of the stack associated with which ever task 
  	pxCurrentTCB is currently pointing to. */
  	MOV.L	#_pxCurrentTCB, R15
  	MOV.L	[R15], R15
  	MOV.L	[R15], R0
  
  	/* Restore the registers from the stack of the task pointed to by 
  	pxCurrentTCB. */
      POP		R15
      MVTACLO	R15 		/* Accumulator low 32 bits. */
      POP		R15
      MVTACHI	R15 		/* Accumulator high 32 bits. */
      POPM	R1-R15 		/* R1 to R15 - R0 is not included as it is the SP. */
      RTE					/* This pops the remaining registers. */
      NOP
      NOP
  }
  /*-----------------------------------------------------------*/
  
  #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
  void vTickISR( void )
  {
  	/* Increment the tick, and perform any processing the new tick value
  	necessitates. */
  	set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
  	{
  		if( xTaskIncrementTick() != pdFALSE )
  		{
  			taskYIELD();
  		}
  	}
  	set_ipl( configKERNEL_INTERRUPT_PRIORITY );
  }
  /*-----------------------------------------------------------*/
  
  void vSoftwareInterruptISR( void )
  {
  	prvYieldHandler();
  }
  /*-----------------------------------------------------------*/
  
  #pragma inline_asm prvYieldHandler
  static void prvYieldHandler( void )
  {
  	/* Re-enable interrupts. */
  	SETPSW	I
  
  	/* Move the data that was automatically pushed onto the interrupt stack when
  	the interrupt occurred from the interrupt stack to the user stack.  
  	
  	R15 is saved before it is clobbered. */
  	PUSH.L	R15
  	
  	/* Read the user stack pointer. */
  	MVFC	USP, R15
  	
  	/* Move the address down to the data being moved. */
  	SUB		#12, R15
  	MVTC	R15, USP
  	
  	/* Copy the data across. */
  	MOV.L	[ R0 ], [ R15 ] ; R15
  	MOV.L 	4[ R0 ], 4[ R15 ]  ; PC
  	MOV.L	8[ R0 ], 8[ R15 ]  ; PSW
  
  	/* Move the interrupt stack pointer to its new correct position. */
  	ADD	#12, R0
  	
  	/* All the rest of the registers are saved directly to the user stack. */
  	SETPSW	U
  
  	/* Save the rest of the general registers (R15 has been saved already). */
  	PUSHM	R1-R14
  	
  	/* Save the accumulator. */
  	MVFACHI	R15
  	PUSH.L	R15
  	MVFACMI	R15	; Middle order word.
  	SHLL	#16, R15 ; Shifted left as it is restored to the low order word.
  	PUSH.L	R15
  
  	/* Save the stack pointer to the TCB. */
  	MOV.L	#_pxCurrentTCB, R15
  	MOV.L	[ R15 ], R15
  	MOV.L	R0, [ R15 ]
  			
  	/* Ensure the interrupt mask is set to the syscall priority while the kernel
  	structures are being accessed. */
  	MVTIPL	#configMAX_SYSCALL_INTERRUPT_PRIORITY
  
  	/* Select the next task to run. */
  	BSR.A	_vTaskSwitchContext
  
  	/* Reset the interrupt mask as no more data structure access is required. */
  	MVTIPL	#configKERNEL_INTERRUPT_PRIORITY
  
  	/* Load the stack pointer of the task that is now selected as the Running
  	state task from its TCB. */
  	MOV.L	#_pxCurrentTCB,R15
  	MOV.L	[ R15 ], R15
  	MOV.L	[ R15 ], R0
  
  	/* Restore the context of the new task.  The PSW (Program Status Word) and
  	PC will be popped by the RTE instruction. */
  	POP		R15
  	MVTACLO	R15
  	POP		R15
  	MVTACHI	R15
  	POPM	R1-R15
  	RTE
  	NOP
  	NOP
  }
  /*-----------------------------------------------------------*/
  
  void vPortEndScheduler( void )
  {
  	/* Not implemented as there is nothing to return to. */
  	
  	/* The following line is just to prevent the symbol getting optimised away. */
  	( void ) vTaskSwitchContext();
  }
  /*-----------------------------------------------------------*/
  
  
  
  