vPortYieldFromTick() returns to SIG_OUTPUT_COMPARE1A() where the final instruction is a return from interrupt (RETI). A RETI instruction assumes the next value on the stack is a return address placed onto the stack when the interrupt occurred.
When the RTOS tick interrupt started the AVR automatically placed the TaskA return address onto the stack - the address of the next instruction to execute in TaskA. The ISR altered the stack pointer so it now points to the TaskB stack. Therefore the return address POP'ed from the stack by the RETI instruction is actually the address of the instruction TaskB was going to execute immediately before it was suspended.
The RTOS tick interrupt interrupted TaskA, but is returning to TaskB - the context switch is complete!
If you would like more information, take a look at the
FreeRTOS ColdFire Implementation Report.
This was written by the Motorola ColdFire port authors, and details both the ColdFire source code
and the development process undertaken in producing the port.
Copyright (C) 2003 - 2008 Richard Barry
Any and all data, files, source code, html content and documentation included in the FreeRTOS distribution or available on this site are the exclusive property of Richard Barry.
See the files license.txt (included in the distribution) and this copyright notice for more information. FreeRTOSTM and FreeRTOS.orgTM are trade marks of Richard Barry.