text: /*
   * FreeRTOS Kernel V10.3.0
   * Copyright (C) 2020 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!
   */
  
  /* Standard includes. */
  #include <stdlib.h>
  
  /* Scheduler includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  
  /* Critical nesting should be initialised to a non zero value so interrupts don't
  accidentally get enabled before the scheduler is started. */
  #define portINITIAL_CRITICAL_NESTING  (( StackType_t ) 10)
  
  /* The PSW value assigned to tasks when they start to run for the first time. */
  #define portPSW		  (( StackType_t ) 0x00000000)
  
  /* We require the address of the pxCurrentTCB variable, but don't want to know
  any details of its type. */
  typedef void TCB_t;
  extern volatile TCB_t * volatile pxCurrentTCB;
  
  /* Keeps track of the nesting level of critical sections. */
  volatile StackType_t usCriticalNesting = portINITIAL_CRITICAL_NESTING;
  /*-----------------------------------------------------------*/
  
  /* Sets up the timer to generate the tick interrupt. */
  static void prvSetupTimerInterrupt( void );
  
  /*-----------------------------------------------------------*/
  StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
  {
  	*pxTopOfStack = ( StackType_t ) pxCode;          /* Task function start address */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) pxCode;          /* Task function start address */
  	pxTopOfStack--;
  	*pxTopOfStack = portPSW;                            /* Initial PSW value */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x20202020;      /* Initial Value of R20 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x21212121;      /* Initial Value of R21 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x22222222;      /* Initial Value of R22 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x23232323;      /* Initial Value of R23 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x24242424;      /* Initial Value of R24 */
  	pxTopOfStack--;
  #if (__DATA_MODEL__ == 0) || (__DATA_MODEL__ == 1)
  	*pxTopOfStack = ( StackType_t ) 0x25252525;      /* Initial Value of R25 */
  	pxTopOfStack--;
  #endif /* configDATA_MODE */
  	*pxTopOfStack = ( StackType_t ) 0x26262626;      /* Initial Value of R26 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x27272727;      /* Initial Value of R27 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x28282828;      /* Initial Value of R28 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x29292929;      /* Initial Value of R29 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x30303030;      /* Initial Value of R30 */
  	pxTopOfStack--; 	
  	*pxTopOfStack = ( StackType_t ) 0x19191919;      /* Initial Value of R19 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x18181818;      /* Initial Value of R18 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x17171717;      /* Initial Value of R17 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x16161616;      /* Initial Value of R16 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x15151515;      /* Initial Value of R15 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x14141414;      /* Initial Value of R14 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x13131313;      /* Initial Value of R13 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x12121212;      /* Initial Value of R12 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x11111111;      /* Initial Value of R11 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x10101010;      /* Initial Value of R10 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x99999999;      /* Initial Value of R09 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x88888888;      /* Initial Value of R08 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x77777777;      /* Initial Value of R07 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x66666666;      /* Initial Value of R06 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 0x55555555;      /* Initial Value of R05 */
  	pxTopOfStack--;
  #if __DATA_MODEL__ == 0 || __DATA_MODEL__ == 1
  	*pxTopOfStack = ( StackType_t ) 0x44444444;      /* Initial Value of R04 */
  	pxTopOfStack--;
  #endif /* configDATA_MODE */
  	*pxTopOfStack = ( StackType_t ) 0x22222222;      /* Initial Value of R02 */
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) pvParameters;    /* R1 is expected to hold the function parameter*/
  	pxTopOfStack--;
  	*pxTopOfStack = ( StackType_t ) 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;
  }
  /*-----------------------------------------------------------*/
  
  BaseType_t 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 V850ES/Fx3 port will get stopped.  If required simply
  	disable the tick interrupt here. */
  }
  /*-----------------------------------------------------------*/
  
  /*
   * Hardware initialisation to generate the RTOS tick.  This uses
   */
  static void prvSetupTimerInterrupt( void )
  {
  	TM0CE     = 0;	/* TMM0 operation disable */
  	TM0EQMK0  = 1;	/* INTTM0EQ0 interrupt disable */
  	TM0EQIF0  = 0;	/* clear INTTM0EQ0 interrupt flag */
  
  	#ifdef __IAR_V850ES_Fx3__
  	{
  		TM0CMP0   = (((configCPU_CLOCK_HZ / configTICK_RATE_HZ) / 2)-1);    /* divided by 2 because peripherals only run at CPU_CLOCK/2 */
  	}
  	#else
  	{
  		TM0CMP0   = (configCPU_CLOCK_HZ / configTICK_RATE_HZ);	
  	}
  	#endif
  
  	TM0EQIC0 &= 0xF8;
  	TM0CTL0   = 0x00;
  	TM0EQIF0 =  0;	/* clear INTTM0EQ0 interrupt flag */
  	TM0EQMK0 =  0;	/* INTTM0EQ0 interrupt enable */
  	TM0CE =     1;	/* TMM0 operation enable */
  }
  /*-----------------------------------------------------------*/
  
  
  