2 FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /* FreeRTOS includes. */
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68 #include "FreeRTOSConfig.h"
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70 /* Xilinx library includes. */
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71 #include "microblaze_exceptions_g.h"
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72 #include "xparameters.h"
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74 /* The context is oversized to allow functions called from the ISR to write
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75 back into the caller stack. */
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76 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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77 #define portCONTEXT_SIZE 136
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78 #define portMINUS_CONTEXT_SIZE -136
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80 #define portCONTEXT_SIZE 132
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81 #define portMINUS_CONTEXT_SIZE -132
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84 /* Offsets from the stack pointer at which saved registers are placed. */
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85 #define portR31_OFFSET 4
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86 #define portR30_OFFSET 8
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87 #define portR29_OFFSET 12
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88 #define portR28_OFFSET 16
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89 #define portR27_OFFSET 20
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90 #define portR26_OFFSET 24
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91 #define portR25_OFFSET 28
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92 #define portR24_OFFSET 32
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93 #define portR23_OFFSET 36
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94 #define portR22_OFFSET 40
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95 #define portR21_OFFSET 44
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96 #define portR20_OFFSET 48
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97 #define portR19_OFFSET 52
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98 #define portR18_OFFSET 56
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99 #define portR17_OFFSET 60
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100 #define portR16_OFFSET 64
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101 #define portR15_OFFSET 68
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102 #define portR14_OFFSET 72
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103 #define portR13_OFFSET 76
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104 #define portR12_OFFSET 80
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105 #define portR11_OFFSET 84
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106 #define portR10_OFFSET 88
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107 #define portR9_OFFSET 92
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108 #define portR8_OFFSET 96
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109 #define portR7_OFFSET 100
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110 #define portR6_OFFSET 104
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111 #define portR5_OFFSET 108
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112 #define portR4_OFFSET 112
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113 #define portR3_OFFSET 116
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114 #define portR2_OFFSET 120
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115 #define portCRITICAL_NESTING_OFFSET 124
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116 #define portMSR_OFFSET 128
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117 #define portFSR_OFFSET 132
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119 .extern pxCurrentTCB
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120 .extern XIntc_DeviceInterruptHandler
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121 .extern vTaskSwitchContext
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122 .extern uxCriticalNesting
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123 .extern pulISRStack
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124 .extern ulTaskSwitchRequested
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125 .extern vPortExceptionHandler
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126 .extern pulStackPointerOnFunctionEntry
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128 .global _interrupt_handler
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129 .global VPortYieldASM
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130 .global vPortStartFirstTask
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131 .global vPortExceptionHandlerEntry
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134 .macro portSAVE_CONTEXT
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136 /* Make room for the context on the stack. */
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137 addik r1, r1, portMINUS_CONTEXT_SIZE
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139 /* Stack general registers. */
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140 swi r31, r1, portR31_OFFSET
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141 swi r30, r1, portR30_OFFSET
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142 swi r29, r1, portR29_OFFSET
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143 swi r28, r1, portR28_OFFSET
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144 swi r27, r1, portR27_OFFSET
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145 swi r26, r1, portR26_OFFSET
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146 swi r25, r1, portR25_OFFSET
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147 swi r24, r1, portR24_OFFSET
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148 swi r23, r1, portR23_OFFSET
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149 swi r22, r1, portR22_OFFSET
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150 swi r21, r1, portR21_OFFSET
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151 swi r20, r1, portR20_OFFSET
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152 swi r19, r1, portR19_OFFSET
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153 swi r18, r1, portR18_OFFSET
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154 swi r17, r1, portR17_OFFSET
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155 swi r16, r1, portR16_OFFSET
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156 swi r15, r1, portR15_OFFSET
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157 /* R14 is saved later as it needs adjustment if a yield is performed. */
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158 swi r13, r1, portR13_OFFSET
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159 swi r12, r1, portR12_OFFSET
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160 swi r11, r1, portR11_OFFSET
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161 swi r10, r1, portR10_OFFSET
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162 swi r9, r1, portR9_OFFSET
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163 swi r8, r1, portR8_OFFSET
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164 swi r7, r1, portR7_OFFSET
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165 swi r6, r1, portR6_OFFSET
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166 swi r5, r1, portR5_OFFSET
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167 swi r4, r1, portR4_OFFSET
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168 swi r3, r1, portR3_OFFSET
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169 swi r2, r1, portR2_OFFSET
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171 /* Stack the critical section nesting value. */
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172 lwi r18, r0, uxCriticalNesting
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173 swi r18, r1, portCRITICAL_NESTING_OFFSET
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177 swi r18, r1, portMSR_OFFSET
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179 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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182 swi r18, r1, portFSR_OFFSET
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185 /* Save the top of stack value to the TCB. */
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186 lwi r3, r0, pxCurrentTCB
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191 .macro portRESTORE_CONTEXT
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193 /* Load the top of stack value from the TCB. */
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194 lwi r18, r0, pxCurrentTCB
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197 /* Restore the general registers. */
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198 lwi r31, r1, portR31_OFFSET
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199 lwi r30, r1, portR30_OFFSET
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200 lwi r29, r1, portR29_OFFSET
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201 lwi r28, r1, portR28_OFFSET
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202 lwi r27, r1, portR27_OFFSET
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203 lwi r26, r1, portR26_OFFSET
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204 lwi r25, r1, portR25_OFFSET
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205 lwi r24, r1, portR24_OFFSET
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206 lwi r23, r1, portR23_OFFSET
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207 lwi r22, r1, portR22_OFFSET
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208 lwi r21, r1, portR21_OFFSET
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209 lwi r20, r1, portR20_OFFSET
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210 lwi r19, r1, portR19_OFFSET
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211 lwi r17, r1, portR17_OFFSET
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212 lwi r16, r1, portR16_OFFSET
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213 lwi r15, r1, portR15_OFFSET
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214 lwi r14, r1, portR14_OFFSET
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215 lwi r13, r1, portR13_OFFSET
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216 lwi r12, r1, portR12_OFFSET
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217 lwi r11, r1, portR11_OFFSET
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218 lwi r10, r1, portR10_OFFSET
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219 lwi r9, r1, portR9_OFFSET
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220 lwi r8, r1, portR8_OFFSET
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221 lwi r7, r1, portR7_OFFSET
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222 lwi r6, r1, portR6_OFFSET
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223 lwi r5, r1, portR5_OFFSET
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224 lwi r4, r1, portR4_OFFSET
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225 lwi r3, r1, portR3_OFFSET
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226 lwi r2, r1, portR2_OFFSET
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228 /* Reload the rmsr from the stack. */
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229 lwi r18, r1, portMSR_OFFSET
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232 #if XPAR_MICROBLAZE_0_USE_FPU == 1
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233 /* Reload the FSR from the stack. */
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234 lwi r18, r1, portFSR_OFFSET
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238 /* Load the critical nesting value. */
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239 lwi r18, r1, portCRITICAL_NESTING_OFFSET
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240 swi r18, r0, uxCriticalNesting
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242 /* Test the critical nesting value. If it is non zero then the task last
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243 exited the running state using a yield. If it is zero, then the task
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244 last exited the running state through an interrupt. */
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246 bnei r18, exit_from_yield
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248 /* r18 was being used as a temporary. Now restore its true value from the
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250 lwi r18, r1, portR18_OFFSET
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252 /* Remove the stack frame. */
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253 addik r1, r1, portCONTEXT_SIZE
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255 /* Return using rtid so interrupts are re-enabled as this function is
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262 /* This function is used to exit portRESTORE_CONTEXT() if the task being
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263 returned to last left the Running state by calling taskYIELD() (rather than
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264 being preempted by an interrupt). */
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269 /* r18 was being used as a temporary. Now restore its true value from the
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271 lwi r18, r1, portR18_OFFSET
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273 /* Remove the stack frame. */
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274 addik r1, r1, portCONTEXT_SIZE
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276 /* Return to the task. */
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283 _interrupt_handler:
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287 /* Stack the return address. */
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288 swi r14, r1, portR14_OFFSET
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290 /* Switch to the ISR stack. */
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291 lwi r1, r0, pulISRStack
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293 /* The parameter to the interrupt handler. */
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294 ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE
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296 /* Execute any pending interrupts. */
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297 bralid r15, XIntc_DeviceInterruptHandler
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300 /* See if a new task should be selected to execute. */
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301 lwi r18, r0, ulTaskSwitchRequested
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304 /* If ulTaskSwitchRequested is already zero, then jump straight to
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305 restoring the task that is already in the Running state. */
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306 beqi r18, task_switch_not_requested
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308 /* Set ulTaskSwitchRequested back to zero as a task switch is about to be
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310 swi r0, r0, ulTaskSwitchRequested
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312 /* ulTaskSwitchRequested was not 0 when tested. Select the next task to
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314 bralid r15, vTaskSwitchContext
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317 task_switch_not_requested:
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319 /* Restore the context of the next task scheduled to execute. */
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320 portRESTORE_CONTEXT
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329 /* Modify the return address so a return is done to the instruction after
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330 the call to VPortYieldASM. */
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332 swi r14, r1, portR14_OFFSET
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334 /* Switch to use the ISR stack. */
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335 lwi r1, r0, pulISRStack
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337 /* Select the next task to execute. */
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338 bralid r15, vTaskSwitchContext
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341 /* Restore the context of the next task scheduled to execute. */
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342 portRESTORE_CONTEXT
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346 vPortStartFirstTask:
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348 portRESTORE_CONTEXT
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352 #if MICROBLAZE_EXCEPTIONS_ENABLED == 1
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356 vPortExceptionHandlerEntry:
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358 /* Take a copy of the stack pointer before vPortExecptionHandler is called,
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359 storing its value prior to the function stack frame being created. */
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360 swi r1, r0, pulStackPointerOnFunctionEntry
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361 bralid r15, vPortExceptionHandler
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364 #endif /* MICROBLAZE_EXCEPTIONS_ENABLED */
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