2 FreeRTOS V9.0.0 - Copyright (C) 2016 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 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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13 ***************************************************************************
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14 >>! NOTE: The modification to the GPL is included to allow you to !<<
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15 >>! distribute a combined work that includes FreeRTOS without being !<<
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16 >>! obliged to provide the source code for proprietary components !<<
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17 >>! outside of the FreeRTOS kernel. !<<
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18 ***************************************************************************
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20 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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21 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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22 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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23 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * FreeRTOS provides completely free yet professionally developed, *
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28 * robust, strictly quality controlled, supported, and cross *
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29 * platform software that is more than just the market leader, it *
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30 * is the industry's de facto standard. *
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32 * Help yourself get started quickly while simultaneously helping *
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33 * to support the FreeRTOS project by purchasing a FreeRTOS *
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34 * tutorial book, reference manual, or both: *
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35 * http://www.FreeRTOS.org/Documentation *
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37 ***************************************************************************
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39 http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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40 the FAQ page "My application does not run, what could be wrong?". Have you
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41 defined configASSERT()?
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43 http://www.FreeRTOS.org/support - In return for receiving this top quality
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44 embedded software for free we request you assist our global community by
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45 participating in the support forum.
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47 http://www.FreeRTOS.org/training - Investing in training allows your team to
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48 be as productive as possible as early as possible. Now you can receive
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49 FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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50 Ltd, and the world's leading authority on the world's leading RTOS.
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52 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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53 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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54 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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56 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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57 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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59 http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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60 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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61 licenses offer ticketed support, indemnification and commercial middleware.
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63 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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64 engineered and independently SIL3 certified version for use in safety and
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65 mission critical applications that require provable dependability.
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70 #include "FreeRTOSConfig.h"
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72 .extern pxCurrentTCB
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73 .extern vTaskSwitchContext
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74 .extern xTaskIncrementTick
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75 .extern vPortISRHandler
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77 .global vPortStartFirstTask
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79 .global vPortTickISR
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80 .global vPortISRWrapper
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81 .global vPortSaveFPURegisters
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82 .global vPortRestoreFPURegisters
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85 .set NextLRField, BChainField + 4
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86 .set MSRField, NextLRField + 4
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87 .set PCField, MSRField + 4
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88 .set LRField, PCField + 4
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89 .set CTRField, LRField + 4
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90 .set XERField, CTRField + 4
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91 .set CRField, XERField + 4
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92 .set USPRG0Field, CRField + 4
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93 .set r0Field, USPRG0Field + 4
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94 .set r2Field, r0Field + 4
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95 .set r3r31Field, r2Field + 4
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96 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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99 .macro portSAVE_STACK_POINTER_AND_LR
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101 /* Get the address of the TCB. */
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103 addis R2, R0, pxCurrentTCB@ha
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104 lwz R2, pxCurrentTCB@l( R2 )
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106 /* Store the stack pointer into the TCB */
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109 /* Save the link register */
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118 .macro portRESTORE_STACK_POINTER_AND_LR
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120 /* Restore the link register */
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127 /* Get the address of the TCB. */
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129 addis SP, R0, pxCurrentTCB@ha
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130 lwz SP, pxCurrentTCB@l( R1 )
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132 /* Get the task stack pointer from the TCB. */
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138 vPortStartFirstTask:
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140 /* Get the address of the TCB. */
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142 addis SP, R0, pxCurrentTCB@ha
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143 lwz SP, pxCurrentTCB@l( SP )
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145 /* Get the task stack pointer from the TCB. */
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148 /* Restore MSR register to SRR1. */
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149 lwz R0, MSRField(R1)
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152 /* Restore current PC location to SRR0. */
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153 lwz R0, PCField(R1)
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156 /* Save USPRG0 register */
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157 lwz R0, USPRG0Field(R1)
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160 /* Restore Condition register */
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161 lwz R0, CRField(R1)
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164 /* Restore Fixed Point Exception register */
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165 lwz R0, XERField(R1)
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168 /* Restore Counter register */
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169 lwz R0, CTRField(R1)
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172 /* Restore Link register */
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173 lwz R0, LRField(R1)
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176 /* Restore remaining GPR registers. */
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177 lmw R3,r3r31Field(R1)
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179 /* Restore r0 and r2. */
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180 lwz R0, r0Field(R1)
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181 lwz R2, r2Field(R1)
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183 /* Remove frame from stack */
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184 addi R1,R1,IFrameSize
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186 /* Return into the first task */
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193 portSAVE_STACK_POINTER_AND_LR
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194 bl vTaskSwitchContext
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195 portRESTORE_STACK_POINTER_AND_LR
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200 portSAVE_STACK_POINTER_AND_LR
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201 bl xTaskIncrementTick
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203 #if configUSE_PREEMPTION == 1
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204 bl vTaskSwitchContext
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207 /* Clear the interrupt */
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211 portRESTORE_STACK_POINTER_AND_LR
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216 portSAVE_STACK_POINTER_AND_LR
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218 portRESTORE_STACK_POINTER_AND_LR
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221 #if configUSE_FPU == 1
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223 vPortSaveFPURegisters:
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225 /* Enable APU and mark FPU as present. */
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235 /* Buffer address is in r3. Save each flop register into an offset from
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236 this buffer address. */
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270 /* Also save the FPSCR. */
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276 /* Buffer address is in r3. Save each flop register into an offset from
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277 this buffer address. */
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311 /* Also save the FPSCR. */
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319 #endif /* configUSE_FPU. */
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322 #if configUSE_FPU == 1
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324 vPortRestoreFPURegisters:
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326 /* Enable APU and mark FPU as present. */
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336 /* Buffer address is in r3. Restore each flop register from an offset
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339 First the FPSCR. */
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378 /* Buffer address is in r3. Restore each flop register from an offset
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381 First the FPSCR. */
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422 #endif /* configUSE_FPU. */
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