text: /*
   * FreeRTOS Kernel V10.1.1
   * Copyright (C) 2018 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy of
   * this software and associated documentation files (the "Software"), to deal in
   * the Software without restriction, including without limitation the rights to
   * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   * the Software, and to permit persons to whom the Software is furnished to do so,
   * subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
   * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
   * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
   * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
   * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
   *
   * http://www.FreeRTOS.org
   * http://aws.amazon.com/freertos
   *
   * 1 tab == 4 spaces!
   */
  
  /* GCC/HCS12 port by Jefferson L Smith, 2005 */
  
  /* Scheduler includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  
  /* Port includes */
  #include <sys/ports_def.h>
  
  /*-----------------------------------------------------------
   * Implementation of functions defined in portable.h for the HCS12 port.
   *----------------------------------------------------------*/
  
  
  /*
   * Configure a timer to generate the RTOS tick at the frequency specified 
   * within FreeRTOSConfig.h.
   */
  static void prvSetupTimerInterrupt( void );
  
  /* NOTE: Interrupt service routines must be in non-banked memory - as does the
  scheduler startup function. */
  #define ATTR_NEAR	__attribute__((near))
  
  /* Manual context switch function.  This is the SWI ISR. */
  // __attribute__((interrupt))
  void ATTR_NEAR vPortYield( void );
  
  /* Tick context switch function.  This is the timer ISR. */
  // __attribute__((interrupt))
  void ATTR_NEAR vPortTickInterrupt( void );
  
  /* Function in non-banked memory which actually switches to first task. */
  BaseType_t ATTR_NEAR xStartSchedulerNear( void );
  
  /* Calls to portENTER_CRITICAL() can be nested.  When they are nested the 
  critical section should not be left (i.e. interrupts should not be re-enabled)
  until the nesting depth reaches 0.  This variable simply tracks the nesting 
  depth.  Each task maintains it's own critical nesting depth variable so 
  uxCriticalNesting is saved and restored from the task stack during a context
  switch. */
  volatile UBaseType_t uxCriticalNesting = 0x80;  // un-initialized
  
  /*-----------------------------------------------------------*/
  
  /* 
   * See header file for description. 
   */
  StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
  {
  
  
  	/* Setup the initial stack of the task.  The stack is set exactly as 
  	expected by the portRESTORE_CONTEXT() macro.  In this case the stack as
  	expected by the HCS12 RTI instruction. */
  
  
  	/* The address of the task function is placed in the stack byte at a time. */
  	*pxTopOfStack   = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 1 );
  	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pxCode) ) + 0 );
  
  	/* Next are all the registers that form part of the task context. */
  
  	/* Y register */
  	*--pxTopOfStack = ( StackType_t ) 0xff;
  	*--pxTopOfStack = ( StackType_t ) 0xee;
  
  	/* X register */
  	*--pxTopOfStack = ( StackType_t ) 0xdd;
  	*--pxTopOfStack = ( StackType_t ) 0xcc;
   
  	/* A register contains parameter high byte. */
  	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 0 );
  
  	/* B register contains parameter low byte. */
  	*--pxTopOfStack = ( StackType_t ) *( ((StackType_t *) (&pvParameters) ) + 1 );
  
  	/* CCR: Note that when the task starts interrupts will be enabled since
  	"I" bit of CCR is cleared */
  	*--pxTopOfStack = ( StackType_t ) 0x80;		// keeps Stop disabled (MCU default)
  	
  	/* tmp softregs used by GCC. Values right now don't	matter. */
  	__asm("\n\
  		movw _.frame, 2,-%0							\n\
  		movw _.tmp, 2,-%0							\n\
  		movw _.z, 2,-%0								\n\
  		movw _.xy, 2,-%0							\n\
  		;movw _.d2, 2,-%0							\n\
  		;movw _.d1, 2,-%0							\n\
  	": "=A"(pxTopOfStack) : "0"(pxTopOfStack) );
  
  	#ifdef BANKED_MODEL
  		/* The page of the task. */
  		*--pxTopOfStack = 0x30;      // can only directly start in PPAGE 0x30
  	#endif
  	
  	/* The critical nesting depth is initialised with 0 (meaning not in
  	a critical section). */
  	*--pxTopOfStack = ( StackType_t ) 0x00;
  
  
  	return pxTopOfStack;
  }
  /*-----------------------------------------------------------*/
  
  void vPortEndScheduler( void )
  {
  	/* It is unlikely that the HCS12 port will get stopped. */
  }
  /*-----------------------------------------------------------*/
  
  static void prvSetupTimerInterrupt( void )
  {
  	/* Enable hardware RTI timer */
  	/* Ignores configTICK_RATE_HZ */
  	RTICTL = 0x50;			// 16 MHz xtal: 976.56 Hz, 1024mS 
  	CRGINT |= 0x80;			// RTIE
  }
  /*-----------------------------------------------------------*/
  
  BaseType_t xPortStartScheduler( void )
  {
  	/* xPortStartScheduler() does not start the scheduler directly because 
  	the header file containing the xPortStartScheduler() prototype is part 
  	of the common kernel code, and therefore cannot use the CODE_SEG pragma. 
  	Instead it simply calls the locally defined xNearStartScheduler() - 
  	which does use the CODE_SEG pragma. */
  
  	int16_t register d;
  	__asm ("jmp  xStartSchedulerNear		; will never return": "=d"(d));
  	return d;
  }
  /*-----------------------------------------------------------*/
  
  BaseType_t xStartSchedulerNear( void )
  {
  	/* Configure the timer that will generate the RTOS tick.  Interrupts are
  	disabled when this function is called. */
  	prvSetupTimerInterrupt();
  
  	/* Restore the context of the first task. */
  	portRESTORE_CONTEXT();
  
  	portISR_TAIL();
  
  	/* Should not get here! */
  	return pdFALSE;
  }
  /*-----------------------------------------------------------*/
  
  /*
   * Context switch functions.  These are interrupt service routines.
   */
  
  /*
   * Manual context switch forced by calling portYIELD().  This is the SWI
   * handler.
   */
  void vPortYield( void )
  {
  	portISR_HEAD();
  	/* NOTE: This is the trap routine (swi) although not defined as a trap.
  	   It will fill the stack the same way as an ISR in order to mix preemtion
  	   and cooperative yield. */
  
  	portSAVE_CONTEXT();
  	vTaskSwitchContext();
  	portRESTORE_CONTEXT();
  
  	portISR_TAIL();
  }
  /*-----------------------------------------------------------*/
  
  /*
   * RTOS tick interrupt service routine.  If the cooperative scheduler is 
   * being used then this simply increments the tick count.  If the 
   * preemptive scheduler is being used a context switch can occur.
   */
  void vPortTickInterrupt( void )
  {
  	portISR_HEAD();
  
  	/* Clear tick timer flag */
  	CRGFLG = 0x80;
  
  	#if configUSE_PREEMPTION == 1
  	{
  		/* A context switch might happen so save the context. */
  		portSAVE_CONTEXT();
  
  		/* Increment the tick ... */
  		if( xTaskIncrementTick() != pdFALSE )
  		{
  			/* A context switch is necessary. */
  			vTaskSwitchContext();
  		}
  
  		/* Restore the context of a task - which may be a different task
  		to that interrupted. */
  		portRESTORE_CONTEXT();
  	}
  	#else
  	{
  		xTaskIncrementTick();
  	}
  	#endif
  
  	portISR_TAIL();
  }
  
  