2 FreeRTOS V9.0.0rc1 - 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 /*-----------------------------------------------------------
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71 * Implementation of functions defined in portable.h for the RX200 port.
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72 *----------------------------------------------------------*/
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74 /* Scheduler includes. */
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75 #include "FreeRTOS.h"
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78 /* Library includes. */
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81 /* Hardware specifics. */
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82 #include "iodefine.h"
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84 /*-----------------------------------------------------------*/
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86 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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87 PSW is set with U and I set, and PM and IPL clear. */
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88 #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )
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90 /*-----------------------------------------------------------*/
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92 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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93 and therefore installed in the vector table, when the FreeRTOS code is built
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95 extern BaseType_t vSoftwareInterruptEntry;
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96 const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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98 /*-----------------------------------------------------------*/
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101 * Function to start the first task executing - written in asm code as direct
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102 * access to registers is required.
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104 static void prvStartFirstTask( void );
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107 * Software interrupt handler. Performs the actual context switch (saving and
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108 * restoring of registers). Written in asm code as direct register access is
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111 static void prvYieldHandler( void );
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114 * The entry point for the software interrupt handler. This is the function
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115 * that calls the inline asm function prvYieldHandler(). It is installed in
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116 * the vector table, but the code that installs it is in prvYieldHandler rather
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117 * than using a #pragma.
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119 void vSoftwareInterruptISR( void );
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121 /*-----------------------------------------------------------*/
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123 /* This is accessed by the inline assembler functions so is file scope for
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125 extern void *pxCurrentTCB;
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126 extern void vTaskSwitchContext( void );
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128 /*-----------------------------------------------------------*/
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131 * See header file for description.
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133 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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135 /* Offset to end up on 8 byte boundary. */
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138 /* R0 is not included as it is the stack pointer. */
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139 *pxTopOfStack = 0x00;
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141 *pxTopOfStack = 0x00;
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143 *pxTopOfStack = portINITIAL_PSW;
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145 *pxTopOfStack = ( StackType_t ) pxCode;
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147 /* When debugging it can be useful if every register is set to a known
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148 value. Otherwise code space can be saved by just setting the registers
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149 that need to be set. */
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150 #ifdef USE_FULL_REGISTER_INITIALISATION
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153 *pxTopOfStack = 0x12345678; /* r15. */
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155 *pxTopOfStack = 0xaaaabbbb;
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157 *pxTopOfStack = 0xdddddddd;
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159 *pxTopOfStack = 0xcccccccc;
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161 *pxTopOfStack = 0xbbbbbbbb;
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163 *pxTopOfStack = 0xaaaaaaaa;
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165 *pxTopOfStack = 0x99999999;
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167 *pxTopOfStack = 0x88888888;
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169 *pxTopOfStack = 0x77777777;
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171 *pxTopOfStack = 0x66666666;
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173 *pxTopOfStack = 0x55555555;
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175 *pxTopOfStack = 0x44444444;
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177 *pxTopOfStack = 0x33333333;
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179 *pxTopOfStack = 0x22222222;
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184 pxTopOfStack -= 15;
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188 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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190 *pxTopOfStack = 0x12345678; /* Accumulator. */
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192 *pxTopOfStack = 0x87654321; /* Accumulator. */
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194 return pxTopOfStack;
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196 /*-----------------------------------------------------------*/
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198 BaseType_t xPortStartScheduler( void )
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200 extern void vApplicationSetupTimerInterrupt( void );
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202 /* Use pxCurrentTCB just so it does not get optimised away. */
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203 if( pxCurrentTCB != NULL )
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205 /* Call an application function to set up the timer that will generate the
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206 tick interrupt. This way the application can decide which peripheral to
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207 use. A demo application is provided to show a suitable example. */
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208 vApplicationSetupTimerInterrupt();
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210 /* Enable the software interrupt. */
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211 _IEN( _ICU_SWINT ) = 1;
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213 /* Ensure the software interrupt is clear. */
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214 _IR( _ICU_SWINT ) = 0;
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216 /* Ensure the software interrupt is set to the kernel priority. */
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217 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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219 /* Start the first task. */
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220 prvStartFirstTask();
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223 /* Just to make sure the function is not optimised away. */
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224 ( void ) vSoftwareInterruptISR();
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226 /* Should not get here. */
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229 /*-----------------------------------------------------------*/
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231 #pragma inline_asm prvStartFirstTask
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232 static void prvStartFirstTask( void )
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234 /* When starting the scheduler there is nothing that needs moving to the
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235 interrupt stack because the function is not called from an interrupt.
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236 Just ensure the current stack is the user stack. */
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239 /* Obtain the location of the stack associated with which ever task
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240 pxCurrentTCB is currently pointing to. */
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241 MOV.L #_pxCurrentTCB, R15
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245 /* Restore the registers from the stack of the task pointed to by
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248 MVTACLO R15 /* Accumulator low 32 bits. */
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250 MVTACHI R15 /* Accumulator high 32 bits. */
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251 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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252 RTE /* This pops the remaining registers. */
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256 /*-----------------------------------------------------------*/
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258 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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259 void vTickISR( void )
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261 /* Increment the tick, and perform any processing the new tick value
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263 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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265 if( xTaskIncrementTick() != pdFALSE )
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270 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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272 /*-----------------------------------------------------------*/
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274 void vSoftwareInterruptISR( void )
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278 /*-----------------------------------------------------------*/
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280 #pragma inline_asm prvYieldHandler
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281 static void prvYieldHandler( void )
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283 /* Re-enable interrupts. */
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286 /* Move the data that was automatically pushed onto the interrupt stack when
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287 the interrupt occurred from the interrupt stack to the user stack.
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289 R15 is saved before it is clobbered. */
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292 /* Read the user stack pointer. */
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295 /* Move the address down to the data being moved. */
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299 /* Copy the data across. */
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300 MOV.L [ R0 ], [ R15 ] ; R15
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301 MOV.L 4[ R0 ], 4[ R15 ] ; PC
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302 MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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304 /* Move the interrupt stack pointer to its new correct position. */
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307 /* All the rest of the registers are saved directly to the user stack. */
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310 /* Save the rest of the general registers (R15 has been saved already). */
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313 /* Save the accumulator. */
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316 MVFACMI R15 ; Middle order word.
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317 SHLL #16, R15 ; Shifted left as it is restored to the low order word.
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320 /* Save the stack pointer to the TCB. */
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321 MOV.L #_pxCurrentTCB, R15
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325 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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326 structures are being accessed. */
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327 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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329 /* Select the next task to run. */
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330 BSR.A _vTaskSwitchContext
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332 /* Reset the interrupt mask as no more data structure access is required. */
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333 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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335 /* Load the stack pointer of the task that is now selected as the Running
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336 state task from its TCB. */
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337 MOV.L #_pxCurrentTCB,R15
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341 /* Restore the context of the new task. The PSW (Program Status Word) and
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342 PC will be popped by the RTE instruction. */
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352 /*-----------------------------------------------------------*/
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354 void vPortEndScheduler( void )
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356 /* Not implemented in ports where there is nothing to return to.
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357 Artificially force an assert. */
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358 configASSERT( pxCurrentTCB == NULL );
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360 /* The following line is just to prevent the symbol getting optimised away. */
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361 ( void ) vTaskSwitchContext();
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363 /*-----------------------------------------------------------*/
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