2 FreeRTOS V8.1.1 - 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 !<<
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28 >>! distribute a combined work that includes FreeRTOS without being !<<
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29 >>! obliged to provide the source code for proprietary components !<<
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30 >>! outside of the FreeRTOS kernel. !<<
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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 "PriorityDefinitions.h"
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68 PUBLIC _prvStartFirstTask
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69 PUBLIC ___interrupt_27
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71 EXTERN _pxCurrentTCB
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72 EXTERN _vTaskSwitchContext
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78 /* When starting the scheduler there is nothing that needs moving to the
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79 interrupt stack because the function is not called from an interrupt.
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80 Just ensure the current stack is the user stack. */
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83 /* Obtain the location of the stack associated with which ever task
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84 pxCurrentTCB is currently pointing to. */
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85 MOV.L #_pxCurrentTCB, R15
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89 /* Restore the registers from the stack of the task pointed to by
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93 /* Accumulator low 32 bits. */
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97 /* Accumulator high 32 bits. */
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100 /* R1 to R15 - R0 is not included as it is the SP. */
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103 /* This pops the remaining registers. */
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108 /*-----------------------------------------------------------*/
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110 /* The software interrupt - overwrite the default 'weak' definition. */
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113 /* Re-enable interrupts. */
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116 /* Move the data that was automatically pushed onto the interrupt stack when
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117 the interrupt occurred from the interrupt stack to the user stack.
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119 R15 is saved before it is clobbered. */
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122 /* Read the user stack pointer. */
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125 /* Move the address down to the data being moved. */
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129 /* Copy the data across, R15, then PC, then PSW. */
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130 MOV.L [ R0 ], [ R15 ]
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131 MOV.L 4[ R0 ], 4[ R15 ]
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132 MOV.L 8[ R0 ], 8[ R15 ]
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134 /* Move the interrupt stack pointer to its new correct position. */
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137 /* All the rest of the registers are saved directly to the user stack. */
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140 /* Save the rest of the general registers (R15 has been saved already). */
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143 /* Save the accumulator. */
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150 /* Shifted left as it is restored to the low order word. */
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154 /* Save the stack pointer to the TCB. */
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155 MOV.L #_pxCurrentTCB, R15
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159 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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160 structures are being accessed. */
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161 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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163 /* Select the next task to run. */
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164 BSR.A _vTaskSwitchContext
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166 /* Reset the interrupt mask as no more data structure access is required. */
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167 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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169 /* Load the stack pointer of the task that is now selected as the Running
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170 state task from its TCB. */
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171 MOV.L #_pxCurrentTCB,R15
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175 /* Restore the context of the new task. The PSW (Program Status Word) and
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176 PC will be popped by the RTE instruction. */
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186 /*-----------------------------------------------------------*/
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