2 FreeRTOS V8.0.0 - 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 #include "FreeRTOSConfig.h"
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68 .extern pxCurrentTCB
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69 .extern vTaskSwitchContext
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70 .extern xTaskIncrementTick
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71 .extern vPortISRHandler
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73 .global vPortStartFirstTask
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75 .global vPortTickISR
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76 .global vPortISRWrapper
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77 .global vPortSaveFPURegisters
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78 .global vPortRestoreFPURegisters
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81 .set NextLRField, BChainField + 4
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82 .set MSRField, NextLRField + 4
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83 .set PCField, MSRField + 4
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84 .set LRField, PCField + 4
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85 .set CTRField, LRField + 4
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86 .set XERField, CTRField + 4
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87 .set CRField, XERField + 4
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88 .set USPRG0Field, CRField + 4
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89 .set r0Field, USPRG0Field + 4
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90 .set r2Field, r0Field + 4
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91 .set r3r31Field, r2Field + 4
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92 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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95 .macro portSAVE_STACK_POINTER_AND_LR
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97 /* Get the address of the TCB. */
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99 addis R2, R0, pxCurrentTCB@ha
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100 lwz R2, pxCurrentTCB@l( R2 )
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102 /* Store the stack pointer into the TCB */
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105 /* Save the link register */
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114 .macro portRESTORE_STACK_POINTER_AND_LR
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116 /* Restore the link register */
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123 /* Get the address of the TCB. */
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125 addis SP, R0, pxCurrentTCB@ha
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126 lwz SP, pxCurrentTCB@l( R1 )
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128 /* Get the task stack pointer from the TCB. */
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134 vPortStartFirstTask:
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136 /* Get the address of the TCB. */
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138 addis SP, R0, pxCurrentTCB@ha
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139 lwz SP, pxCurrentTCB@l( SP )
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141 /* Get the task stack pointer from the TCB. */
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144 /* Restore MSR register to SRR1. */
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145 lwz R0, MSRField(R1)
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148 /* Restore current PC location to SRR0. */
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149 lwz R0, PCField(R1)
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152 /* Save USPRG0 register */
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153 lwz R0, USPRG0Field(R1)
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156 /* Restore Condition register */
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157 lwz R0, CRField(R1)
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160 /* Restore Fixed Point Exception register */
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161 lwz R0, XERField(R1)
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164 /* Restore Counter register */
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165 lwz R0, CTRField(R1)
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168 /* Restore Link register */
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169 lwz R0, LRField(R1)
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172 /* Restore remaining GPR registers. */
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173 lmw R3,r3r31Field(R1)
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175 /* Restore r0 and r2. */
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176 lwz R0, r0Field(R1)
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177 lwz R2, r2Field(R1)
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179 /* Remove frame from stack */
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180 addi R1,R1,IFrameSize
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182 /* Return into the first task */
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189 portSAVE_STACK_POINTER_AND_LR
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190 bl vTaskSwitchContext
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191 portRESTORE_STACK_POINTER_AND_LR
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196 portSAVE_STACK_POINTER_AND_LR
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197 bl xTaskIncrementTick
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199 #if configUSE_PREEMPTION == 1
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200 bl vTaskSwitchContext
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203 /* Clear the interrupt */
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207 portRESTORE_STACK_POINTER_AND_LR
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212 portSAVE_STACK_POINTER_AND_LR
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214 portRESTORE_STACK_POINTER_AND_LR
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217 #if configUSE_FPU == 1
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219 vPortSaveFPURegisters:
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221 /* Enable APU and mark FPU as present. */
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231 /* Buffer address is in r3. Save each flop register into an offset from
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232 this buffer address. */
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266 /* Also save the FPSCR. */
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272 /* Buffer address is in r3. Save each flop register into an offset from
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273 this buffer address. */
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307 /* Also save the FPSCR. */
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315 #endif /* configUSE_FPU. */
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318 #if configUSE_FPU == 1
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320 vPortRestoreFPURegisters:
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322 /* Enable APU and mark FPU as present. */
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332 /* Buffer address is in r3. Restore each flop register from an offset
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335 First the FPSCR. */
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374 /* Buffer address is in r3. Restore each flop register from an offset
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377 First the FPSCR. */
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418 #endif /* configUSE_FPU. */
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