2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 #include "FreeRTOSConfig.h"
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98 .extern pxCurrentTCB
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99 .extern vTaskSwitchContext
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100 .extern xTaskIncrementTick
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101 .extern vPortISRHandler
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103 .global vPortStartFirstTask
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105 .global vPortTickISR
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106 .global vPortISRWrapper
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107 .global vPortSaveFPURegisters
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108 .global vPortRestoreFPURegisters
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110 .set BChainField, 0
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111 .set NextLRField, BChainField + 4
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112 .set MSRField, NextLRField + 4
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113 .set PCField, MSRField + 4
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114 .set LRField, PCField + 4
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115 .set CTRField, LRField + 4
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116 .set XERField, CTRField + 4
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117 .set CRField, XERField + 4
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118 .set USPRG0Field, CRField + 4
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119 .set r0Field, USPRG0Field + 4
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120 .set r2Field, r0Field + 4
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121 .set r3r31Field, r2Field + 4
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122 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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125 .macro portSAVE_STACK_POINTER_AND_LR
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127 /* Get the address of the TCB. */
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129 addis R2, R0, pxCurrentTCB@ha
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130 lwz R2, pxCurrentTCB@l( R2 )
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132 /* Store the stack pointer into the TCB */
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135 /* Save the link register */
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144 .macro portRESTORE_STACK_POINTER_AND_LR
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146 /* Restore the link register */
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153 /* Get the address of the TCB. */
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155 addis SP, R0, pxCurrentTCB@ha
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156 lwz SP, pxCurrentTCB@l( R1 )
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158 /* Get the task stack pointer from the TCB. */
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164 vPortStartFirstTask:
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166 /* Get the address of the TCB. */
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168 addis SP, R0, pxCurrentTCB@ha
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169 lwz SP, pxCurrentTCB@l( SP )
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171 /* Get the task stack pointer from the TCB. */
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174 /* Restore MSR register to SRR1. */
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175 lwz R0, MSRField(R1)
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178 /* Restore current PC location to SRR0. */
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179 lwz R0, PCField(R1)
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182 /* Save USPRG0 register */
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183 lwz R0, USPRG0Field(R1)
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186 /* Restore Condition register */
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187 lwz R0, CRField(R1)
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190 /* Restore Fixed Point Exception register */
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191 lwz R0, XERField(R1)
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194 /* Restore Counter register */
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195 lwz R0, CTRField(R1)
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198 /* Restore Link register */
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199 lwz R0, LRField(R1)
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202 /* Restore remaining GPR registers. */
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203 lmw R3,r3r31Field(R1)
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205 /* Restore r0 and r2. */
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206 lwz R0, r0Field(R1)
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207 lwz R2, r2Field(R1)
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209 /* Remove frame from stack */
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210 addi R1,R1,IFrameSize
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212 /* Return into the first task */
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219 portSAVE_STACK_POINTER_AND_LR
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220 bl vTaskSwitchContext
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221 portRESTORE_STACK_POINTER_AND_LR
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226 portSAVE_STACK_POINTER_AND_LR
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227 bl xTaskIncrementTick
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229 #if configUSE_PREEMPTION == 1
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230 bl vTaskSwitchContext
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233 /* Clear the interrupt */
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237 portRESTORE_STACK_POINTER_AND_LR
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242 portSAVE_STACK_POINTER_AND_LR
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244 portRESTORE_STACK_POINTER_AND_LR
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247 #if configUSE_FPU == 1
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249 vPortSaveFPURegisters:
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251 /* Enable APU and mark FPU as present. */
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261 /* Buffer address is in r3. Save each flop register into an offset from
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262 this buffer address. */
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296 /* Also save the FPSCR. */
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302 /* Buffer address is in r3. Save each flop register into an offset from
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303 this buffer address. */
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337 /* Also save the FPSCR. */
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345 #endif /* configUSE_FPU. */
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348 #if configUSE_FPU == 1
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350 vPortRestoreFPURegisters:
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352 /* Enable APU and mark FPU as present. */
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362 /* Buffer address is in r3. Restore each flop register from an offset
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365 First the FPSCR. */
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404 /* Buffer address is in r3. Restore each flop register from an offset
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407 First the FPSCR. */
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448 #endif /* configUSE_FPU. */
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