2 FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 /* FreeRTOS includes. */
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67 #include "FreeRTOSConfig.h"
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69 /* Xilinx library includes. */
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70 #include "microblaze_exceptions_g.h"
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71 #include "xparameters.h"
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73 /* The context is oversized to allow functions called from the ISR to write
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74 back into the caller stack. */
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75 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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76 #define portCONTEXT_SIZE 136
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77 #define portMINUS_CONTEXT_SIZE -136
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79 #define portCONTEXT_SIZE 132
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80 #define portMINUS_CONTEXT_SIZE -132
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83 /* Offsets from the stack pointer at which saved registers are placed. */
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84 #define portR31_OFFSET 4
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85 #define portR30_OFFSET 8
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86 #define portR29_OFFSET 12
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87 #define portR28_OFFSET 16
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88 #define portR27_OFFSET 20
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89 #define portR26_OFFSET 24
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90 #define portR25_OFFSET 28
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91 #define portR24_OFFSET 32
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92 #define portR23_OFFSET 36
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93 #define portR22_OFFSET 40
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94 #define portR21_OFFSET 44
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95 #define portR20_OFFSET 48
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96 #define portR19_OFFSET 52
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97 #define portR18_OFFSET 56
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98 #define portR17_OFFSET 60
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99 #define portR16_OFFSET 64
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100 #define portR15_OFFSET 68
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101 #define portR14_OFFSET 72
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102 #define portR13_OFFSET 76
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103 #define portR12_OFFSET 80
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104 #define portR11_OFFSET 84
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105 #define portR10_OFFSET 88
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106 #define portR9_OFFSET 92
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107 #define portR8_OFFSET 96
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108 #define portR7_OFFSET 100
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109 #define portR6_OFFSET 104
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110 #define portR5_OFFSET 108
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111 #define portR4_OFFSET 112
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112 #define portR3_OFFSET 116
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113 #define portR2_OFFSET 120
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114 #define portCRITICAL_NESTING_OFFSET 124
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115 #define portMSR_OFFSET 128
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116 #define portFSR_OFFSET 132
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118 .extern pxCurrentTCB
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119 .extern XIntc_DeviceInterruptHandler
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120 .extern vTaskSwitchContext
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121 .extern uxCriticalNesting
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122 .extern pulISRStack
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123 .extern ulTaskSwitchRequested
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124 .extern vPortExceptionHandler
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125 .extern pulStackPointerOnFunctionEntry
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127 .global _interrupt_handler
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128 .global VPortYieldASM
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129 .global vPortStartFirstTask
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130 .global vPortExceptionHandlerEntry
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133 .macro portSAVE_CONTEXT
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135 /* Make room for the context on the stack. */
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136 addik r1, r1, portMINUS_CONTEXT_SIZE
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138 /* Stack general registers. */
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139 swi r31, r1, portR31_OFFSET
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140 swi r30, r1, portR30_OFFSET
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141 swi r29, r1, portR29_OFFSET
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142 swi r28, r1, portR28_OFFSET
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143 swi r27, r1, portR27_OFFSET
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144 swi r26, r1, portR26_OFFSET
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145 swi r25, r1, portR25_OFFSET
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146 swi r24, r1, portR24_OFFSET
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147 swi r23, r1, portR23_OFFSET
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148 swi r22, r1, portR22_OFFSET
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149 swi r21, r1, portR21_OFFSET
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150 swi r20, r1, portR20_OFFSET
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151 swi r19, r1, portR19_OFFSET
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152 swi r18, r1, portR18_OFFSET
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153 swi r17, r1, portR17_OFFSET
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154 swi r16, r1, portR16_OFFSET
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155 swi r15, r1, portR15_OFFSET
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156 /* R14 is saved later as it needs adjustment if a yield is performed. */
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157 swi r13, r1, portR13_OFFSET
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158 swi r12, r1, portR12_OFFSET
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159 swi r11, r1, portR11_OFFSET
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160 swi r10, r1, portR10_OFFSET
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161 swi r9, r1, portR9_OFFSET
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162 swi r8, r1, portR8_OFFSET
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163 swi r7, r1, portR7_OFFSET
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164 swi r6, r1, portR6_OFFSET
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165 swi r5, r1, portR5_OFFSET
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166 swi r4, r1, portR4_OFFSET
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167 swi r3, r1, portR3_OFFSET
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168 swi r2, r1, portR2_OFFSET
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170 /* Stack the critical section nesting value. */
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171 lwi r18, r0, uxCriticalNesting
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172 swi r18, r1, portCRITICAL_NESTING_OFFSET
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176 swi r18, r1, portMSR_OFFSET
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178 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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181 swi r18, r1, portFSR_OFFSET
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184 /* Save the top of stack value to the TCB. */
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185 lwi r3, r0, pxCurrentTCB
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190 .macro portRESTORE_CONTEXT
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192 /* Load the top of stack value from the TCB. */
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193 lwi r18, r0, pxCurrentTCB
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196 /* Restore the general registers. */
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197 lwi r31, r1, portR31_OFFSET
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198 lwi r30, r1, portR30_OFFSET
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199 lwi r29, r1, portR29_OFFSET
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200 lwi r28, r1, portR28_OFFSET
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201 lwi r27, r1, portR27_OFFSET
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202 lwi r26, r1, portR26_OFFSET
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203 lwi r25, r1, portR25_OFFSET
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204 lwi r24, r1, portR24_OFFSET
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205 lwi r23, r1, portR23_OFFSET
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206 lwi r22, r1, portR22_OFFSET
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207 lwi r21, r1, portR21_OFFSET
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208 lwi r20, r1, portR20_OFFSET
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209 lwi r19, r1, portR19_OFFSET
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210 lwi r17, r1, portR17_OFFSET
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211 lwi r16, r1, portR16_OFFSET
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212 lwi r15, r1, portR15_OFFSET
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213 lwi r14, r1, portR14_OFFSET
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214 lwi r13, r1, portR13_OFFSET
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215 lwi r12, r1, portR12_OFFSET
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216 lwi r11, r1, portR11_OFFSET
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217 lwi r10, r1, portR10_OFFSET
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218 lwi r9, r1, portR9_OFFSET
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219 lwi r8, r1, portR8_OFFSET
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220 lwi r7, r1, portR7_OFFSET
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221 lwi r6, r1, portR6_OFFSET
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222 lwi r5, r1, portR5_OFFSET
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223 lwi r4, r1, portR4_OFFSET
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224 lwi r3, r1, portR3_OFFSET
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225 lwi r2, r1, portR2_OFFSET
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227 /* Reload the rmsr from the stack. */
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228 lwi r18, r1, portMSR_OFFSET
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231 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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232 /* Reload the FSR from the stack. */
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233 lwi r18, r1, portFSR_OFFSET
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237 /* Load the critical nesting value. */
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238 lwi r18, r1, portCRITICAL_NESTING_OFFSET
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239 swi r18, r0, uxCriticalNesting
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241 /* Test the critical nesting value. If it is non zero then the task last
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242 exited the running state using a yield. If it is zero, then the task
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243 last exited the running state through an interrupt. */
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245 bnei r18, exit_from_yield
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247 /* r18 was being used as a temporary. Now restore its true value from the
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249 lwi r18, r1, portR18_OFFSET
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251 /* Remove the stack frame. */
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252 addik r1, r1, portCONTEXT_SIZE
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254 /* Return using rtid so interrupts are re-enabled as this function is
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261 /* This function is used to exit portRESTORE_CONTEXT() if the task being
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262 returned to last left the Running state by calling taskYIELD() (rather than
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263 being preempted by an interrupt). */
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268 /* r18 was being used as a temporary. Now restore its true value from the
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270 lwi r18, r1, portR18_OFFSET
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272 /* Remove the stack frame. */
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273 addik r1, r1, portCONTEXT_SIZE
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275 /* Return to the task. */
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282 _interrupt_handler:
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286 /* Stack the return address. */
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287 swi r14, r1, portR14_OFFSET
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289 /* Switch to the ISR stack. */
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290 lwi r1, r0, pulISRStack
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292 /* The parameter to the interrupt handler. */
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293 ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE
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295 /* Execute any pending interrupts. */
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296 bralid r15, XIntc_DeviceInterruptHandler
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299 /* See if a new task should be selected to execute. */
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300 lwi r18, r0, ulTaskSwitchRequested
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303 /* If ulTaskSwitchRequested is already zero, then jump straight to
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304 restoring the task that is already in the Running state. */
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305 beqi r18, task_switch_not_requested
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307 /* Set ulTaskSwitchRequested back to zero as a task switch is about to be
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309 swi r0, r0, ulTaskSwitchRequested
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311 /* ulTaskSwitchRequested was not 0 when tested. Select the next task to
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313 bralid r15, vTaskSwitchContext
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316 task_switch_not_requested:
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318 /* Restore the context of the next task scheduled to execute. */
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319 portRESTORE_CONTEXT
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328 /* Modify the return address so a return is done to the instruction after
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329 the call to VPortYieldASM. */
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331 swi r14, r1, portR14_OFFSET
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333 /* Switch to use the ISR stack. */
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334 lwi r1, r0, pulISRStack
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336 /* Select the next task to execute. */
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337 bralid r15, vTaskSwitchContext
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340 /* Restore the context of the next task scheduled to execute. */
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341 portRESTORE_CONTEXT
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345 vPortStartFirstTask:
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347 portRESTORE_CONTEXT
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351 #if MICROBLAZE_EXCEPTIONS_ENABLED == 1
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355 vPortExceptionHandlerEntry:
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357 /* Take a copy of the stack pointer before vPortExecptionHandler is called,
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358 storing its value prior to the function stack frame being created. */
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359 swi r1, r0, pulStackPointerOnFunctionEntry
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360 bralid r15, vPortExceptionHandler
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363 #endif /* MICROBLAZE_EXCEPTIONS_ENABLED */
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