2 FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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32 >>>NOTE<<< The modification to the GPL is included to allow you to
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33 distribute a combined work that includes FreeRTOS without being obliged to
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34 provide the source code for proprietary components outside of the FreeRTOS
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35 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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36 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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37 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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38 more details. You should have received a copy of the GNU General Public
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39 License and the FreeRTOS license exception along with FreeRTOS; if not it
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40 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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41 by writing to Richard Barry, contact details for whom are available on the
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46 ***************************************************************************
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48 * Having a problem? Start by reading the FAQ "My application does *
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49 * not run, what could be wrong?" *
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51 * http://www.FreeRTOS.org/FAQHelp.html *
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53 ***************************************************************************
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56 http://www.FreeRTOS.org - Documentation, training, latest versions, license
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57 and contact details.
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59 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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60 including FreeRTOS+Trace - an indispensable productivity tool.
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62 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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63 the code with commercial support, indemnification, and middleware, under
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64 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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65 provide a safety engineered and independently SIL3 certified version under
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66 the SafeRTOS brand: http://www.SafeRTOS.com.
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69 /*-----------------------------------------------------------
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70 * Implementation of functions defined in portable.h for the ARM CM4F port.
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71 *----------------------------------------------------------*/
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73 /* Scheduler includes. */
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74 #include "FreeRTOS.h"
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78 #error This port can only be used when the project options are configured to enable hardware floating point support.
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81 #ifndef configSYSTICK_CLOCK_HZ
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82 #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
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83 #if configUSE_TICKLESS_IDLE == 1
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84 static const unsigned long ulStoppedTimerCompensation = 45UL;
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86 #else /* configSYSTICK_CLOCK_HZ */
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87 #if configUSE_TICKLESS_IDLE == 1
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88 /* Assumes the SysTick clock is slower than the CPU clock. */
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89 static const unsigned long ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
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91 #endif /* configSYSTICK_CLOCK_HZ */
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93 /* Constants required to manipulate the core. Registers first... */
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94 #define portNVIC_SYSTICK_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000e010 ) )
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95 #define portNVIC_SYSTICK_LOAD_REG ( * ( ( volatile unsigned long * ) 0xe000e014 ) )
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96 #define portNVIC_SYSTICK_CURRENT_VALUE_REG ( * ( ( volatile unsigned long * ) 0xe000e018 ) )
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97 #define portNVIC_INT_CTRL_REG ( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
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98 #define portNVIC_SYSPRI2_REG ( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
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99 /* ...then bits in the registers. */
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100 #define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
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101 #define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
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102 #define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
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103 #define portNVIC_SYSTICK_COUNT_FLAG_BIT ( 1UL << 16UL )
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104 #define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )
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105 #define portNVIC_PENDSVCLEAR_BIT ( 1UL << 27UL )
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106 #define portNVIC_PEND_SYSTICK_CLEAR_BIT ( 1UL << 25UL )
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108 #define portNVIC_PENDSV_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
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109 #define portNVIC_SYSTICK_PRI ( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
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111 /* Constants required to manipulate the VFP. */
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112 #define portFPCCR ( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
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113 #define portASPEN_AND_LSPEN_BITS ( 0x3UL << 30UL )
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115 /* Constants required to set up the initial stack. */
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116 #define portINITIAL_XPSR ( 0x01000000 )
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117 #define portINITIAL_EXEC_RETURN ( 0xfffffffd )
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119 /* The priority used by the kernel is assigned to a variable to make access
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120 from inline assembler easier. */
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121 const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
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123 /* Each task maintains its own interrupt status in the critical nesting
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125 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
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128 * Setup the timer to generate the tick interrupts.
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130 static void prvSetupTimerInterrupt( void );
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133 * Exception handlers.
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135 void xPortPendSVHandler( void ) __attribute__ (( naked ));
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136 void xPortSysTickHandler( void );
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137 void vPortSVCHandler( void ) __attribute__ (( naked ));
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140 * Start first task is a separate function so it can be tested in isolation.
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142 static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
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145 * Function to enable the VFP.
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147 static void vPortEnableVFP( void ) __attribute__ (( naked ));
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149 /*-----------------------------------------------------------*/
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152 * The number of SysTick increments that make up one tick period.
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154 static unsigned long ulTimerReloadValueForOneTick = 0;
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157 * The maximum number of tick periods that can be suppressed is limited by the
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158 * 24 bit resolution of the SysTick timer.
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160 #if configUSE_TICKLESS_IDLE == 1
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161 static unsigned long xMaximumPossibleSuppressedTicks = 0;
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162 #endif /* configUSE_TICKLESS_IDLE */
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165 /*-----------------------------------------------------------*/
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168 * See header file for description.
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170 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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172 /* Simulate the stack frame as it would be created by a context switch
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175 /* Offset added to account for the way the MCU uses the stack on entry/exit
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176 of interrupts, and to ensure alignment. */
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179 *pxTopOfStack = portINITIAL_XPSR; /* xPSR */
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181 *pxTopOfStack = ( portSTACK_TYPE ) pxCode; /* PC */
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183 *pxTopOfStack = 0; /* LR */
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185 /* Save code space by skipping register initialisation. */
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186 pxTopOfStack -= 5; /* R12, R3, R2 and R1. */
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187 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
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189 /* A save method is being used that requires each task to maintain its
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190 own exec return value. */
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192 *pxTopOfStack = portINITIAL_EXEC_RETURN;
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194 pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
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196 return pxTopOfStack;
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198 /*-----------------------------------------------------------*/
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200 void vPortSVCHandler( void )
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203 " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */
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204 " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
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205 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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206 " ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
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207 " msr psp, r0 \n" /* Restore the task stack pointer. */
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209 " msr basepri, r0 \n"
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213 "pxCurrentTCBConst2: .word pxCurrentTCB \n"
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216 /*-----------------------------------------------------------*/
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218 static void prvPortStartFirstTask( void )
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221 " ldr r0, =0xE000ED08 \n" /* Use the NVIC offset register to locate the stack. */
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224 " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
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225 " cpsie i \n" /* Globally enable interrupts. */
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226 " svc 0 \n" /* System call to start first task. */
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230 /*-----------------------------------------------------------*/
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233 * See header file for description.
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235 portBASE_TYPE xPortStartScheduler( void )
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237 /* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
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238 See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
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239 configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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241 /* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
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242 portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
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243 portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
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245 /* Start the timer that generates the tick ISR. Interrupts are disabled
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247 prvSetupTimerInterrupt();
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249 /* Initialise the critical nesting count ready for the first task. */
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250 uxCriticalNesting = 0;
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252 /* Ensure the VFP is enabled - it should be anyway. */
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255 /* Lazy save always. */
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256 *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
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258 /* Start the first task. */
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259 prvPortStartFirstTask();
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261 /* Should not get here! */
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264 /*-----------------------------------------------------------*/
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266 void vPortEndScheduler( void )
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268 /* It is unlikely that the CM4F port will require this function as there
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269 is nothing to return to. */
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271 /*-----------------------------------------------------------*/
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273 void vPortYieldFromISR( void )
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275 /* Set a PendSV to request a context switch. */
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276 portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
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278 /*-----------------------------------------------------------*/
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280 void vPortEnterCritical( void )
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282 portDISABLE_INTERRUPTS();
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283 uxCriticalNesting++;
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285 /*-----------------------------------------------------------*/
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287 void vPortExitCritical( void )
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289 uxCriticalNesting--;
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290 if( uxCriticalNesting == 0 )
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292 portENABLE_INTERRUPTS();
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295 /*-----------------------------------------------------------*/
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297 __attribute__(( naked )) unsigned long ulPortSetInterruptMask( void )
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301 " mrs r0, basepri \n" \
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303 " msr basepri, r1 \n" \
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305 :: "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "r0", "r1" \
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308 /* This return will not be reached but is necessary to prevent compiler
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312 /*-----------------------------------------------------------*/
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314 __attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskValue )
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318 " msr basepri, r0 \n" \
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323 /*-----------------------------------------------------------*/
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325 void xPortPendSVHandler( void )
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327 /* This is a naked function. */
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333 " ldr r3, pxCurrentTCBConst \n" /* Get the location of the current TCB. */
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336 " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
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338 " vstmdbeq r0!, {s16-s31} \n"
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340 " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
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342 " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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344 " stmdb sp!, {r3, r14} \n"
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346 " msr basepri, r0 \n"
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347 " bl vTaskSwitchContext \n"
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349 " msr basepri, r0 \n"
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350 " ldmia sp!, {r3, r14} \n"
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352 " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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355 " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
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357 " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
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359 " vldmiaeq r0!, {s16-s31} \n"
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365 "pxCurrentTCBConst: .word pxCurrentTCB \n"
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366 ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
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369 /*-----------------------------------------------------------*/
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371 void xPortSysTickHandler( void )
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373 /* If using preemption, also force a context switch. */
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374 #if configUSE_PREEMPTION == 1
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375 portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
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378 #if configUSE_TICKLESS_IDLE == 1
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379 portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
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382 ( void ) portSET_INTERRUPT_MASK_FROM_ISR();
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384 vTaskIncrementTick();
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386 portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
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388 /*-----------------------------------------------------------*/
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390 #if configUSE_TICKLESS_IDLE == 1
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392 __attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
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394 unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
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396 /* Make sure the SysTick reload value does not overflow the counter. */
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397 if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
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399 xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
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402 /* Calculate the reload value required to wait xExpectedIdleTime
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403 tick periods. -1 is used because this code will execute part way
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404 through one of the tick periods, and the fraction of a tick period is
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405 accounted for later. */
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406 ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
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407 if( ulReloadValue > ulStoppedTimerCompensation )
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409 ulReloadValue -= ulStoppedTimerCompensation;
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412 /* Stop the SysTick momentarily. The time the SysTick is stopped for
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413 is accounted for as best it can be, but using the tickless mode will
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414 inevitably result in some tiny drift of the time maintained by the
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415 kernel with respect to calendar time. */
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416 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
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418 /* If a context switch is pending then abandon the low power entry as
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419 the context switch might have been pended by an external interrupt that
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420 requires processing. */
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421 if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
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423 /* Restart SysTick. */
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424 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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428 /* Adjust the reload value to take into account that the current
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429 time slice is already partially complete. */
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430 ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
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431 portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
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433 /* Clear the SysTick count flag and set the count value back to
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435 portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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437 /* Restart SysTick. */
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438 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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440 /* Sleep until something happens. */
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441 configPRE_SLEEP_PROCESSING();
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442 __asm volatile( "wfi" );
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443 configPOST_SLEEP_PROCESSING();
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445 /* Stop SysTick. Again, the time the SysTick is stopped for is
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446 accounted for as best it can be, but using the tickless mode will
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447 inevitably result in some tiny drift of the time maintained by the
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448 kernel with respect to calendar time. */
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449 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
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451 if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
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453 /* The tick interrupt has already executed, and the SysTick
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454 count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
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455 Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
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456 this tick period. */
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457 portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
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459 /* The tick interrupt handler will already have pended the tick
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460 processing in the kernel. As the pending tick will be
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461 processed as soon as this function exits, the tick value
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462 maintained by the tick is stepped forward by one less than the
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463 time spent waiting. */
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464 ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
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468 /* Something other than the tick interrupt ended the sleep.
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469 Work out how long the sleep lasted. */
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470 ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
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472 /* How many complete tick periods passed while the processor
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474 ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
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476 /* The reload value is set to whatever fraction of a single tick
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478 portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
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481 /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
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482 again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
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484 portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
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485 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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487 vTaskStepTick( ulCompleteTickPeriods );
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491 #endif /* #if configUSE_TICKLESS_IDLE */
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492 /*-----------------------------------------------------------*/
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495 * Setup the systick timer to generate the tick interrupts at the required
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498 void prvSetupTimerInterrupt( void )
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500 /* Calculate the constants required to configure the tick interrupt. */
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501 ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
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502 #if configUSE_TICKLESS_IDLE == 1
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503 xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
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504 #endif /* configUSE_TICKLESS_IDLE */
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507 /* Configure SysTick to interrupt at the requested rate. */
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508 portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
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509 portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
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511 /*-----------------------------------------------------------*/
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513 /* This is a naked function. */
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514 static void vPortEnableVFP( void )
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518 " ldr.w r0, =0xE000ED88 \n" /* The FPU enable bits are in the CPACR. */
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521 " orr r1, r1, #( 0xf << 20 ) \n" /* Enable CP10 and CP11 coprocessors, then save back. */
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