2 FreeRTOS V8.1.2 - 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 /*-----------------------------------------------------------
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67 * Implementation of functions defined in portable.h for the RX600 port.
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68 *----------------------------------------------------------*/
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70 /* Scheduler includes. */
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71 #include "FreeRTOS.h"
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74 /* Library includes. */
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77 /* Hardware specifics. */
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78 #include "iodefine.h"
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80 /*-----------------------------------------------------------*/
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82 /* Tasks should start with interrupts enabled and in Supervisor mode, therefore
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83 PSW is set with U and I set, and PM and IPL clear. */
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84 #define portINITIAL_PSW ( ( StackType_t ) 0x00030000 )
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85 #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )
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87 /*-----------------------------------------------------------*/
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89 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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90 and therefore installed in the vector table, when the FreeRTOS code is built
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92 extern BaseType_t vSoftwareInterruptEntry;
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93 const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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95 /*-----------------------------------------------------------*/
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98 * Function to start the first task executing - written in asm code as direct
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99 * access to registers is required.
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101 static void prvStartFirstTask( void );
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104 * Software interrupt handler. Performs the actual context switch (saving and
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105 * restoring of registers). Written in asm code as direct register access is
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108 static void prvYieldHandler( void );
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111 * The entry point for the software interrupt handler. This is the function
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112 * that calls the inline asm function prvYieldHandler(). It is installed in
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113 * the vector table, but the code that installs it is in prvYieldHandler rather
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114 * than using a #pragma.
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116 void vSoftwareInterruptISR( void );
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118 /*-----------------------------------------------------------*/
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120 /* This is accessed by the inline assembler functions so is file scope for
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122 extern void *pxCurrentTCB;
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123 extern void vTaskSwitchContext( void );
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125 /*-----------------------------------------------------------*/
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128 * See header file for description.
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130 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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132 /* R0 is not included as it is the stack pointer. */
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134 *pxTopOfStack = 0x00;
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136 *pxTopOfStack = portINITIAL_PSW;
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138 *pxTopOfStack = ( StackType_t ) pxCode;
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140 /* When debugging it can be useful if every register is set to a known
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141 value. Otherwise code space can be saved by just setting the registers
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142 that need to be set. */
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143 #ifdef USE_FULL_REGISTER_INITIALISATION
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146 *pxTopOfStack = 0xffffffff; /* r15. */
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148 *pxTopOfStack = 0xeeeeeeee;
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150 *pxTopOfStack = 0xdddddddd;
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152 *pxTopOfStack = 0xcccccccc;
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154 *pxTopOfStack = 0xbbbbbbbb;
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156 *pxTopOfStack = 0xaaaaaaaa;
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158 *pxTopOfStack = 0x99999999;
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160 *pxTopOfStack = 0x88888888;
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162 *pxTopOfStack = 0x77777777;
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164 *pxTopOfStack = 0x66666666;
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166 *pxTopOfStack = 0x55555555;
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168 *pxTopOfStack = 0x44444444;
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170 *pxTopOfStack = 0x33333333;
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172 *pxTopOfStack = 0x22222222;
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177 pxTopOfStack -= 15;
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181 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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183 *pxTopOfStack = portINITIAL_FPSW;
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185 *pxTopOfStack = 0x12345678; /* Accumulator. */
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187 *pxTopOfStack = 0x87654321; /* Accumulator. */
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189 return pxTopOfStack;
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191 /*-----------------------------------------------------------*/
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193 BaseType_t xPortStartScheduler( void )
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195 extern void vApplicationSetupTimerInterrupt( void );
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197 /* Use pxCurrentTCB just so it does not get optimised away. */
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198 if( pxCurrentTCB != NULL )
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200 /* Call an application function to set up the timer that will generate the
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201 tick interrupt. This way the application can decide which peripheral to
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202 use. A demo application is provided to show a suitable example. */
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203 vApplicationSetupTimerInterrupt();
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205 /* Enable the software interrupt. */
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206 _IEN( _ICU_SWINT ) = 1;
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208 /* Ensure the software interrupt is clear. */
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209 _IR( _ICU_SWINT ) = 0;
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211 /* Ensure the software interrupt is set to the kernel priority. */
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212 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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214 /* Start the first task. */
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215 prvStartFirstTask();
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218 /* Just to make sure the function is not optimised away. */
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219 ( void ) vSoftwareInterruptISR();
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221 /* Should not get here. */
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224 /*-----------------------------------------------------------*/
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226 #pragma inline_asm prvStartFirstTask
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227 static void prvStartFirstTask( void )
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229 /* When starting the scheduler there is nothing that needs moving to the
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230 interrupt stack because the function is not called from an interrupt.
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231 Just ensure the current stack is the user stack. */
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234 /* Obtain the location of the stack associated with which ever task
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235 pxCurrentTCB is currently pointing to. */
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236 MOV.L #_pxCurrentTCB, R15
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240 /* Restore the registers from the stack of the task pointed to by
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243 MVTACLO R15 /* Accumulator low 32 bits. */
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245 MVTACHI R15 /* Accumulator high 32 bits. */
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247 MVTC R15,FPSW /* Floating point status word. */
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248 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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249 RTE /* This pops the remaining registers. */
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253 /*-----------------------------------------------------------*/
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255 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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256 void vTickISR( void )
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258 /* Increment the tick, and perform any processing the new tick value
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260 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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262 if( xTaskIncrementTick() != pdFALSE )
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267 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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269 /*-----------------------------------------------------------*/
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271 void vSoftwareInterruptISR( void )
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275 /*-----------------------------------------------------------*/
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277 #pragma inline_asm prvYieldHandler
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278 static void prvYieldHandler( void )
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280 /* Re-enable interrupts. */
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283 /* Move the data that was automatically pushed onto the interrupt stack when
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284 the interrupt occurred from the interrupt stack to the user stack.
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286 R15 is saved before it is clobbered. */
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289 /* Read the user stack pointer. */
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292 /* Move the address down to the data being moved. */
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296 /* Copy the data across. */
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297 MOV.L [ R0 ], [ R15 ] ; R15
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298 MOV.L 4[ R0 ], 4[ R15 ] ; PC
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299 MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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301 /* Move the interrupt stack pointer to its new correct position. */
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304 /* All the rest of the registers are saved directly to the user stack. */
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307 /* Save the rest of the general registers (R15 has been saved already). */
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310 /* Save the FPSW and accumulator. */
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315 MVFACMI R15 ; Middle order word.
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316 SHLL #16, R15 ; Shifted left as it is restored to the low order word.
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319 /* Save the stack pointer to the TCB. */
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320 MOV.L #_pxCurrentTCB, R15
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324 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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325 structures are being accessed. */
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326 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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328 /* Select the next task to run. */
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329 BSR.A _vTaskSwitchContext
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331 /* Reset the interrupt mask as no more data structure access is required. */
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332 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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334 /* Load the stack pointer of the task that is now selected as the Running
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335 state task from its TCB. */
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336 MOV.L #_pxCurrentTCB,R15
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340 /* Restore the context of the new task. The PSW (Program Status Word) and
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341 PC will be popped by the RTE instruction. */
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353 /*-----------------------------------------------------------*/
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355 void vPortEndScheduler( void )
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357 /* Not implemented in ports where there is nothing to return to.
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358 Artificially force an assert. */
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359 configASSERT( pxCurrentTCB == NULL );
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361 /* The following line is just to prevent the symbol getting optimised away. */
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362 ( void ) vTaskSwitchContext();
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364 /*-----------------------------------------------------------*/
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