2 FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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5 ***************************************************************************
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7 * FreeRTOS tutorial books are available in pdf and paperback. *
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8 * Complete, revised, and edited pdf reference manuals are also *
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11 * Purchasing FreeRTOS documentation will not only help you, by *
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12 * ensuring you get running as quickly as possible and with an *
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13 * in-depth knowledge of how to use FreeRTOS, it will also help *
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14 * the FreeRTOS project to continue with its mission of providing *
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15 * professional grade, cross platform, de facto standard solutions *
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16 * for microcontrollers - completely free of charge! *
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18 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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20 * Thank you for using FreeRTOS, and thank you for your support! *
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22 ***************************************************************************
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25 This file is part of the FreeRTOS distribution.
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27 FreeRTOS is free software; you can redistribute it and/or modify it under
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28 the terms of the GNU General Public License (version 2) as published by the
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29 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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30 >>>NOTE<<< The modification to the GPL is included to allow you to
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31 distribute a combined work that includes FreeRTOS without being obliged to
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32 provide the source code for proprietary components outside of the FreeRTOS
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33 kernel. FreeRTOS is distributed in the hope that it will be useful, but
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34 WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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35 or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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36 more details. You should have received a copy of the GNU General Public
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37 License and the FreeRTOS license exception along with FreeRTOS; if not it
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38 can be viewed here: http://www.freertos.org/a00114.html and also obtained
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39 by writing to Richard Barry, contact details for whom are available on the
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44 ***************************************************************************
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46 * Having a problem? Start by reading the FAQ "My application does *
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47 * not run, what could be wrong? *
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49 * http://www.FreeRTOS.org/FAQHelp.html *
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51 ***************************************************************************
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54 http://www.FreeRTOS.org - Documentation, training, latest information,
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55 license and contact details.
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57 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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58 including FreeRTOS+Trace - an indispensable productivity tool.
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60 Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
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61 the code with commercial support, indemnification, and middleware, under
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62 the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
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63 provide a safety engineered and independently SIL3 certified version under
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64 the SafeRTOS brand: http://www.SafeRTOS.com.
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67 /*-----------------------------------------------------------
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68 * Implementation of functions defined in portable.h for the SH2A port.
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69 *----------------------------------------------------------*/
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71 /* Scheduler includes. */
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72 #include "FreeRTOS.h"
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75 /* Library includes. */
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78 /* Hardware specifics. */
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79 #include "iodefine.h"
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81 /*-----------------------------------------------------------*/
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83 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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84 PSW is set with U and I set, and PM and IPL clear. */
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85 #define portINITIAL_PSW ( ( portSTACK_TYPE ) 0x00030000 )
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86 #define portINITIAL_FPSW ( ( portSTACK_TYPE ) 0x00000100 )
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88 /*-----------------------------------------------------------*/
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90 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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91 and therefore installed in the vector table, when the FreeRTOS code is built
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93 extern portBASE_TYPE vSoftwareInterruptEntry;
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94 const portBASE_TYPE * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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96 /*-----------------------------------------------------------*/
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99 * Function to start the first task executing - written in asm code as direct
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100 * access to registers is required.
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102 static void prvStartFirstTask( void );
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105 * Software interrupt handler. Performs the actual context switch (saving and
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106 * restoring of registers). Written in asm code as direct register access is
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109 static void prvYieldHandler( void );
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112 * The entry point for the software interrupt handler. This is the function
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113 * that calls the inline asm function prvYieldHandler(). It is installed in
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114 * the vector table, but the code that installs it is in prvYieldHandler rather
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115 * than using a #pragma.
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117 void vSoftwareInterruptISR( void );
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119 /*-----------------------------------------------------------*/
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121 /* This is accessed by the inline assembler functions so is file scope for
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123 extern void *pxCurrentTCB;
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124 extern void vTaskSwitchContext( void );
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126 /*-----------------------------------------------------------*/
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129 * See header file for description.
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131 portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
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133 /* R0 is not included as it is the stack pointer. */
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135 *pxTopOfStack = 0x00;
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137 *pxTopOfStack = portINITIAL_PSW;
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139 *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
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141 /* When debugging it can be useful if every register is set to a known
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142 value. Otherwise code space can be saved by just setting the registers
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143 that need to be set. */
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144 #ifdef USE_FULL_REGISTER_INITIALISATION
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147 *pxTopOfStack = 0xffffffff; /* r15. */
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149 *pxTopOfStack = 0xeeeeeeee;
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151 *pxTopOfStack = 0xdddddddd;
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153 *pxTopOfStack = 0xcccccccc;
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155 *pxTopOfStack = 0xbbbbbbbb;
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157 *pxTopOfStack = 0xaaaaaaaa;
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159 *pxTopOfStack = 0x99999999;
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161 *pxTopOfStack = 0x88888888;
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163 *pxTopOfStack = 0x77777777;
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165 *pxTopOfStack = 0x66666666;
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167 *pxTopOfStack = 0x55555555;
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169 *pxTopOfStack = 0x44444444;
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171 *pxTopOfStack = 0x33333333;
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173 *pxTopOfStack = 0x22222222;
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178 pxTopOfStack -= 15;
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182 *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R1 */
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184 *pxTopOfStack = portINITIAL_FPSW;
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186 *pxTopOfStack = 0x12345678; /* Accumulator. */
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188 *pxTopOfStack = 0x87654321; /* Accumulator. */
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190 return pxTopOfStack;
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192 /*-----------------------------------------------------------*/
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194 portBASE_TYPE xPortStartScheduler( void )
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196 extern void vApplicationSetupTimerInterrupt( void );
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198 /* Use pxCurrentTCB just so it does not get optimised away. */
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199 if( pxCurrentTCB != NULL )
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201 /* Call an application function to set up the timer that will generate the
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202 tick interrupt. This way the application can decide which peripheral to
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203 use. A demo application is provided to show a suitable example. */
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204 vApplicationSetupTimerInterrupt();
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206 /* Enable the software interrupt. */
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207 _IEN( _ICU_SWINT ) = 1;
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209 /* Ensure the software interrupt is clear. */
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210 _IR( _ICU_SWINT ) = 0;
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212 /* Ensure the software interrupt is set to the kernel priority. */
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213 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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215 /* Start the first task. */
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216 prvStartFirstTask();
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219 /* Just to make sure the function is not optimised away. */
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220 ( void ) vSoftwareInterruptISR();
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222 /* Should not get here. */
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225 /*-----------------------------------------------------------*/
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227 #pragma inline_asm prvStartFirstTask
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228 static void prvStartFirstTask( void )
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230 /* When starting the scheduler there is nothing that needs moving to the
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231 interrupt stack because the function is not called from an interrupt.
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232 Just ensure the current stack is the user stack. */
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235 /* Obtain the location of the stack associated with which ever task
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236 pxCurrentTCB is currently pointing to. */
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237 MOV.L #_pxCurrentTCB, R15
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241 /* Restore the registers from the stack of the task pointed to by
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244 MVTACLO R15 /* Accumulator low 32 bits. */
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246 MVTACHI R15 /* Accumulator high 32 bits. */
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248 MVTC R15,FPSW /* Floating point status word. */
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249 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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250 RTE /* This pops the remaining registers. */
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254 /*-----------------------------------------------------------*/
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256 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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257 void vTickISR( void )
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259 /* Increment the tick, and perform any processing the new tick value
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261 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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263 vTaskIncrementTick();
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265 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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267 /* Only select a new task if the preemptive scheduler is being used. */
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268 #if( configUSE_PREEMPTION == 1 )
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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 FPSW and accumulator. */
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318 MVFACMI R15 ; Middle order word.
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319 SHLL #16, R15 ; Shifted left as it is restored to the low order word.
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322 /* Save the stack pointer to the TCB. */
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323 MOV.L #_pxCurrentTCB, R15
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327 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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328 structures are being accessed. */
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329 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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331 /* Select the next task to run. */
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332 BSR.A _vTaskSwitchContext
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334 /* Reset the interrupt mask as no more data structure access is required. */
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335 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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337 /* Load the stack pointer of the task that is now selected as the Running
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338 state task from its TCB. */
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339 MOV.L #_pxCurrentTCB,R15
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343 /* Restore the context of the new task. The PSW (Program Status Word) and
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344 PC will be popped by the RTE instruction. */
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356 /*-----------------------------------------------------------*/
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358 void vPortEndScheduler( void )
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360 /* Not implemented as there is nothing to return to. */
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362 /* The following line is just to prevent the symbol getting optimised away. */
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363 ( void ) vTaskSwitchContext();
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365 /*-----------------------------------------------------------*/
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