2 FreeRTOS V9.0.1 - Copyright (C) 2017 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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76 EXTERN vTaskSwitchContext
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78 PUBLIC xPortPendSVHandler
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79 PUBLIC vPortSVCHandler
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80 PUBLIC vPortStartFirstTask
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81 PUBLIC vPortEnableVFP
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84 /*-----------------------------------------------------------*/
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89 /* Get the location of the current TCB. */
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90 ldr r3, =pxCurrentTCB
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93 /* Is the task using the FPU context? If so, push high vfp registers. */
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96 vstmdbeq r0!, {s16-s31}
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98 /* Save the core registers. */
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99 stmdb r0!, {r4-r11, r14}
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101 /* Save the new top of stack into the first member of the TCB. */
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105 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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109 bl vTaskSwitchContext
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114 /* The first item in pxCurrentTCB is the task top of stack. */
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118 /* Pop the core registers. */
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119 ldmia r0!, {r4-r11, r14}
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121 /* Is the task using the FPU context? If so, pop the high vfp registers
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125 vldmiaeq r0!, {s16-s31}
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129 #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
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130 #if WORKAROUND_PMU_CM001 == 1
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139 /*-----------------------------------------------------------*/
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142 /* Get the location of the current TCB. */
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143 ldr r3, =pxCurrentTCB
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146 /* Pop the core registers. */
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147 ldmia r0!, {r4-r11, r14}
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154 /*-----------------------------------------------------------*/
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156 vPortStartFirstTask
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157 /* Use the NVIC offset register to locate the stack. */
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158 ldr r0, =0xE000ED08
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161 /* Set the msp back to the start of the stack. */
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163 /* Clear the bit that indicates the FPU is in use in case the FPU was used
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164 before the scheduler was started - which would otherwise result in the
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165 unnecessary leaving of space in the SVC stack for lazy saving of FPU
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169 /* Call SVC to start the first task. */
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176 /*-----------------------------------------------------------*/
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179 /* The FPU enable bits are in the CPACR. */
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180 ldr.w r0, =0xE000ED88
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183 /* Enable CP10 and CP11 coprocessors, then save back. */
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184 orr r1, r1, #( 0xf << 20 )
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