2 FreeRTOS V7.4.2 - Copyright (C) 2013 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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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 #include "FreeRTOSConfig.h"
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77 .extern pxCurrentTCB
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78 .extern vTaskSwitchContext
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79 .extern vTaskIncrementTick
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80 .extern vPortISRHandler
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82 .global vPortStartFirstTask
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84 .global vPortTickISR
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85 .global vPortISRWrapper
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86 .global vPortSaveFPURegisters
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87 .global vPortRestoreFPURegisters
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90 .set NextLRField, BChainField + 4
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91 .set MSRField, NextLRField + 4
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92 .set PCField, MSRField + 4
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93 .set LRField, PCField + 4
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94 .set CTRField, LRField + 4
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95 .set XERField, CTRField + 4
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96 .set CRField, XERField + 4
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97 .set USPRG0Field, CRField + 4
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98 .set r0Field, USPRG0Field + 4
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99 .set r2Field, r0Field + 4
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100 .set r3r31Field, r2Field + 4
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101 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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104 .macro portSAVE_STACK_POINTER_AND_LR
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106 /* Get the address of the TCB. */
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108 addis R2, R0, pxCurrentTCB@ha
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109 lwz R2, pxCurrentTCB@l( R2 )
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111 /* Store the stack pointer into the TCB */
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114 /* Save the link register */
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123 .macro portRESTORE_STACK_POINTER_AND_LR
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125 /* Restore the link register */
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132 /* Get the address of the TCB. */
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134 addis SP, R0, pxCurrentTCB@ha
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135 lwz SP, pxCurrentTCB@l( R1 )
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137 /* Get the task stack pointer from the TCB. */
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143 vPortStartFirstTask:
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145 /* Get the address of the TCB. */
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147 addis SP, R0, pxCurrentTCB@ha
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148 lwz SP, pxCurrentTCB@l( SP )
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150 /* Get the task stack pointer from the TCB. */
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153 /* Restore MSR register to SRR1. */
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154 lwz R0, MSRField(R1)
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157 /* Restore current PC location to SRR0. */
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158 lwz R0, PCField(R1)
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161 /* Save USPRG0 register */
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162 lwz R0, USPRG0Field(R1)
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165 /* Restore Condition register */
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166 lwz R0, CRField(R1)
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169 /* Restore Fixed Point Exception register */
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170 lwz R0, XERField(R1)
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173 /* Restore Counter register */
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174 lwz R0, CTRField(R1)
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177 /* Restore Link register */
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178 lwz R0, LRField(R1)
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181 /* Restore remaining GPR registers. */
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182 lmw R3,r3r31Field(R1)
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184 /* Restore r0 and r2. */
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185 lwz R0, r0Field(R1)
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186 lwz R2, r2Field(R1)
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188 /* Remove frame from stack */
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189 addi R1,R1,IFrameSize
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191 /* Return into the first task */
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198 portSAVE_STACK_POINTER_AND_LR
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199 bl vTaskSwitchContext
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200 portRESTORE_STACK_POINTER_AND_LR
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205 portSAVE_STACK_POINTER_AND_LR
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206 bl vTaskIncrementTick
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208 #if configUSE_PREEMPTION == 1
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209 bl vTaskSwitchContext
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212 /* Clear the interrupt */
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216 portRESTORE_STACK_POINTER_AND_LR
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221 portSAVE_STACK_POINTER_AND_LR
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223 portRESTORE_STACK_POINTER_AND_LR
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226 #if configUSE_FPU == 1
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228 vPortSaveFPURegisters:
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230 /* Enable APU and mark FPU as present. */
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240 /* Buffer address is in r3. Save each flop register into an offset from
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241 this buffer address. */
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275 /* Also save the FPSCR. */
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281 /* Buffer address is in r3. Save each flop register into an offset from
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282 this buffer address. */
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316 /* Also save the FPSCR. */
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324 #endif /* configUSE_FPU. */
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327 #if configUSE_FPU == 1
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329 vPortRestoreFPURegisters:
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331 /* Enable APU and mark FPU as present. */
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341 /* Buffer address is in r3. Restore each flop register from an offset
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344 First the FPSCR. */
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383 /* Buffer address is in r3. Restore each flop register from an offset
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386 First the FPSCR. */
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427 #endif /* configUSE_FPU. */
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