2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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65 #include "FreeRTOSConfig.h"
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67 .extern pxCurrentTCB
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68 .extern vTaskSwitchContext
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69 .extern xTaskIncrementTick
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70 .extern vPortISRHandler
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72 .global vPortStartFirstTask
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74 .global vPortTickISR
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75 .global vPortISRWrapper
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76 .global vPortSaveFPURegisters
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77 .global vPortRestoreFPURegisters
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80 .set NextLRField, BChainField + 4
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81 .set MSRField, NextLRField + 4
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82 .set PCField, MSRField + 4
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83 .set LRField, PCField + 4
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84 .set CTRField, LRField + 4
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85 .set XERField, CTRField + 4
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86 .set CRField, XERField + 4
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87 .set USPRG0Field, CRField + 4
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88 .set r0Field, USPRG0Field + 4
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89 .set r2Field, r0Field + 4
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90 .set r3r31Field, r2Field + 4
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91 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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94 .macro portSAVE_STACK_POINTER_AND_LR
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96 /* Get the address of the TCB. */
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98 addis R2, R0, pxCurrentTCB@ha
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99 lwz R2, pxCurrentTCB@l( R2 )
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101 /* Store the stack pointer into the TCB */
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104 /* Save the link register */
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113 .macro portRESTORE_STACK_POINTER_AND_LR
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115 /* Restore the link register */
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122 /* Get the address of the TCB. */
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124 addis SP, R0, pxCurrentTCB@ha
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125 lwz SP, pxCurrentTCB@l( R1 )
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127 /* Get the task stack pointer from the TCB. */
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133 vPortStartFirstTask:
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135 /* Get the address of the TCB. */
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137 addis SP, R0, pxCurrentTCB@ha
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138 lwz SP, pxCurrentTCB@l( SP )
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140 /* Get the task stack pointer from the TCB. */
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143 /* Restore MSR register to SRR1. */
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144 lwz R0, MSRField(R1)
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147 /* Restore current PC location to SRR0. */
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148 lwz R0, PCField(R1)
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151 /* Save USPRG0 register */
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152 lwz R0, USPRG0Field(R1)
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155 /* Restore Condition register */
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156 lwz R0, CRField(R1)
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159 /* Restore Fixed Point Exception register */
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160 lwz R0, XERField(R1)
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163 /* Restore Counter register */
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164 lwz R0, CTRField(R1)
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167 /* Restore Link register */
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168 lwz R0, LRField(R1)
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171 /* Restore remaining GPR registers. */
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172 lmw R3,r3r31Field(R1)
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174 /* Restore r0 and r2. */
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175 lwz R0, r0Field(R1)
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176 lwz R2, r2Field(R1)
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178 /* Remove frame from stack */
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179 addi R1,R1,IFrameSize
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181 /* Return into the first task */
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188 portSAVE_STACK_POINTER_AND_LR
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189 bl vTaskSwitchContext
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190 portRESTORE_STACK_POINTER_AND_LR
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195 portSAVE_STACK_POINTER_AND_LR
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196 bl xTaskIncrementTick
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198 #if configUSE_PREEMPTION == 1
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199 bl vTaskSwitchContext
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202 /* Clear the interrupt */
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206 portRESTORE_STACK_POINTER_AND_LR
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211 portSAVE_STACK_POINTER_AND_LR
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213 portRESTORE_STACK_POINTER_AND_LR
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216 #if configUSE_FPU == 1
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218 vPortSaveFPURegisters:
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220 /* Enable APU and mark FPU as present. */
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230 /* Buffer address is in r3. Save each flop register into an offset from
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231 this buffer address. */
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265 /* Also save the FPSCR. */
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271 /* Buffer address is in r3. Save each flop register into an offset from
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272 this buffer address. */
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306 /* Also save the FPSCR. */
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314 #endif /* configUSE_FPU. */
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317 #if configUSE_FPU == 1
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319 vPortRestoreFPURegisters:
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321 /* Enable APU and mark FPU as present. */
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331 /* Buffer address is in r3. Restore each flop register from an offset
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334 First the FPSCR. */
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373 /* Buffer address is in r3. Restore each flop register from an offset
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376 First the FPSCR. */
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417 #endif /* configUSE_FPU. */
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