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 RX600 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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89 #define portINITIAL_FPSW ( ( StackType_t ) 0x00000100 )
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91 /*-----------------------------------------------------------*/
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93 /* The following lines are to ensure vSoftwareInterruptEntry can be referenced,
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94 and therefore installed in the vector table, when the FreeRTOS code is built
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96 extern BaseType_t vSoftwareInterruptEntry;
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97 const BaseType_t * p_vSoftwareInterruptEntry = &vSoftwareInterruptEntry;
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99 /*-----------------------------------------------------------*/
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102 * Function to start the first task executing - written in asm code as direct
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103 * access to registers is required.
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105 static void prvStartFirstTask( void );
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108 * Software interrupt handler. Performs the actual context switch (saving and
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109 * restoring of registers). Written in asm code as direct register access is
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112 static void prvYieldHandler( void );
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115 * The entry point for the software interrupt handler. This is the function
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116 * that calls the inline asm function prvYieldHandler(). It is installed in
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117 * the vector table, but the code that installs it is in prvYieldHandler rather
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118 * than using a #pragma.
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120 void vSoftwareInterruptISR( void );
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122 /*-----------------------------------------------------------*/
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124 /* This is accessed by the inline assembler functions so is file scope for
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126 extern void *pxCurrentTCB;
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127 extern void vTaskSwitchContext( void );
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129 /*-----------------------------------------------------------*/
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132 * See header file for description.
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134 StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
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136 /* R0 is not included as it is the stack pointer. */
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138 *pxTopOfStack = 0x00;
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140 *pxTopOfStack = portINITIAL_PSW;
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142 *pxTopOfStack = ( StackType_t ) pxCode;
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144 /* When debugging it can be useful if every register is set to a known
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145 value. Otherwise code space can be saved by just setting the registers
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146 that need to be set. */
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147 #ifdef USE_FULL_REGISTER_INITIALISATION
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150 *pxTopOfStack = 0xffffffff; /* r15. */
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152 *pxTopOfStack = 0xeeeeeeee;
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154 *pxTopOfStack = 0xdddddddd;
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156 *pxTopOfStack = 0xcccccccc;
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158 *pxTopOfStack = 0xbbbbbbbb;
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160 *pxTopOfStack = 0xaaaaaaaa;
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162 *pxTopOfStack = 0x99999999;
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164 *pxTopOfStack = 0x88888888;
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166 *pxTopOfStack = 0x77777777;
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168 *pxTopOfStack = 0x66666666;
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170 *pxTopOfStack = 0x55555555;
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172 *pxTopOfStack = 0x44444444;
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174 *pxTopOfStack = 0x33333333;
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176 *pxTopOfStack = 0x22222222;
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181 pxTopOfStack -= 15;
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185 *pxTopOfStack = ( StackType_t ) pvParameters; /* R1 */
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187 *pxTopOfStack = portINITIAL_FPSW;
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189 *pxTopOfStack = 0x11111111; /* Accumulator 0. */
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191 *pxTopOfStack = 0x22222222; /* Accumulator 0. */
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193 *pxTopOfStack = 0x33333333; /* Accumulator 0. */
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195 *pxTopOfStack = 0x44444444; /* Accumulator 1. */
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197 *pxTopOfStack = 0x55555555; /* Accumulator 1. */
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199 *pxTopOfStack = 0x66666666; /* Accumulator 1. */
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201 return pxTopOfStack;
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203 /*-----------------------------------------------------------*/
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205 BaseType_t xPortStartScheduler( void )
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207 extern void vApplicationSetupTimerInterrupt( void );
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209 /* Use pxCurrentTCB just so it does not get optimised away. */
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210 if( pxCurrentTCB != NULL )
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212 /* Call an application function to set up the timer that will generate the
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213 tick interrupt. This way the application can decide which peripheral to
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214 use. A demo application is provided to show a suitable example. */
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215 vApplicationSetupTimerInterrupt();
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217 /* Enable the software interrupt. */
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218 _IEN( _ICU_SWINT ) = 1;
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220 /* Ensure the software interrupt is clear. */
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221 _IR( _ICU_SWINT ) = 0;
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223 /* Ensure the software interrupt is set to the kernel priority. */
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224 _IPR( _ICU_SWINT ) = configKERNEL_INTERRUPT_PRIORITY;
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226 /* Start the first task. */
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227 prvStartFirstTask();
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230 /* Just to make sure the function is not optimised away. */
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231 ( void ) vSoftwareInterruptISR();
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233 /* Should not get here. */
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236 /*-----------------------------------------------------------*/
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238 #pragma inline_asm prvStartFirstTask
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239 static void prvStartFirstTask( void )
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241 /* When starting the scheduler there is nothing that needs moving to the
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242 interrupt stack because the function is not called from an interrupt.
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243 Just ensure the current stack is the user stack. */
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246 /* Obtain the location of the stack associated with which ever task
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247 pxCurrentTCB is currently pointing to. */
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248 MOV.L #_pxCurrentTCB, R15
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252 /* Restore the registers from the stack of the task pointed to by
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255 MVTACLO R15, A0 /* Accumulator low 32 bits. */
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257 MVTACHI R15, A0 /* Accumulator high 32 bits. */
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259 MVTACGU R15, A0 /* Accumulator guard. */
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261 MVTACLO R15, A1 /* Accumulator low 32 bits. */
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263 MVTACHI R15, A1 /* Accumulator high 32 bits. */
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265 MVTACGU R15, A1 /* Accumulator guard. */
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267 MVTC R15,FPSW /* Floating point status word. */
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268 POPM R1-R15 /* R1 to R15 - R0 is not included as it is the SP. */
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269 RTE /* This pops the remaining registers. */
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273 /*-----------------------------------------------------------*/
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275 #pragma interrupt ( vTickISR( vect = _VECT( configTICK_VECTOR ), enable ) )
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276 void vTickISR( void )
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278 /* Increment the tick, and perform any processing the new tick value
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280 set_ipl( configMAX_SYSCALL_INTERRUPT_PRIORITY );
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282 if( xTaskIncrementTick() != pdFALSE )
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287 set_ipl( configKERNEL_INTERRUPT_PRIORITY );
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289 /*-----------------------------------------------------------*/
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291 void vSoftwareInterruptISR( void )
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295 /*-----------------------------------------------------------*/
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297 #pragma inline_asm prvYieldHandler
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298 static void prvYieldHandler( void )
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300 /* Re-enable interrupts. */
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303 /* Move the data that was automatically pushed onto the interrupt stack when
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304 the interrupt occurred from the interrupt stack to the user stack.
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306 R15 is saved before it is clobbered. */
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309 /* Read the user stack pointer. */
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312 /* Move the address down to the data being moved. */
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316 /* Copy the data across. */
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317 MOV.L [ R0 ], [ R15 ] ; R15
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318 MOV.L 4[ R0 ], 4[ R15 ] ; PC
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319 MOV.L 8[ R0 ], 8[ R15 ] ; PSW
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321 /* Move the interrupt stack pointer to its new correct position. */
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324 /* All the rest of the registers are saved directly to the user stack. */
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327 /* Save the rest of the general registers (R15 has been saved already). */
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330 /* Save the FPSW and accumulators. */
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333 MVFACGU #0, A1, R15
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335 MVFACHI #0, A1, R15
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337 MVFACLO #0, A1, R15 ; Low order word.
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339 MVFACGU #0, A0, R15
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341 MVFACHI #0, A0, R15
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343 MVFACLO #0, A0, R15 ; Low order word.
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346 /* Save the stack pointer to the TCB. */
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347 MOV.L #_pxCurrentTCB, R15
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351 /* Ensure the interrupt mask is set to the syscall priority while the kernel
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352 structures are being accessed. */
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353 MVTIPL #configMAX_SYSCALL_INTERRUPT_PRIORITY
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355 /* Select the next task to run. */
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356 BSR.A _vTaskSwitchContext
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358 /* Reset the interrupt mask as no more data structure access is required. */
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359 MVTIPL #configKERNEL_INTERRUPT_PRIORITY
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361 /* Load the stack pointer of the task that is now selected as the Running
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362 state task from its TCB. */
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363 MOV.L #_pxCurrentTCB,R15
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367 /* Restore the context of the new task. The PSW (Program Status Word) and
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368 PC will be popped by the RTE instruction. */
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370 MVTACLO R15, A0 /* Accumulator low 32 bits. */
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372 MVTACHI R15, A0 /* Accumulator high 32 bits. */
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374 MVTACGU R15, A0 /* Accumulator guard. */
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376 MVTACLO R15, A1 /* Accumulator low 32 bits. */
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378 MVTACHI R15, A1 /* Accumulator high 32 bits. */
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380 MVTACGU R15, A1 /* Accumulator guard. */
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388 /*-----------------------------------------------------------*/
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390 void vPortEndScheduler( void )
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392 /* Not implemented in ports where there is nothing to return to.
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393 Artificially force an assert. */
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394 configASSERT( pxCurrentTCB == NULL );
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396 /* The following line is just to prevent the symbol getting optimised away. */
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397 ( void ) vTaskSwitchContext();
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399 /*-----------------------------------------------------------*/
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