2 FreeRTOS V7.1.1 - 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 #include "FreeRTOSConfig.h"
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69 .extern pxCurrentTCB
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70 .extern vTaskSwitchContext
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71 .extern vTaskIncrementTick
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72 .extern vPortISRHandler
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74 .global vPortStartFirstTask
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76 .global vPortTickISR
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77 .global vPortISRWrapper
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78 .global vPortSaveFPURegisters
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79 .global vPortRestoreFPURegisters
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82 .set NextLRField, BChainField + 4
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83 .set MSRField, NextLRField + 4
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84 .set PCField, MSRField + 4
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85 .set LRField, PCField + 4
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86 .set CTRField, LRField + 4
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87 .set XERField, CTRField + 4
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88 .set CRField, XERField + 4
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89 .set USPRG0Field, CRField + 4
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90 .set r0Field, USPRG0Field + 4
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91 .set r2Field, r0Field + 4
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92 .set r3r31Field, r2Field + 4
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93 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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96 .macro portSAVE_STACK_POINTER_AND_LR
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98 /* Get the address of the TCB. */
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100 addis R2, R0, pxCurrentTCB@ha
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101 lwz R2, pxCurrentTCB@l( R2 )
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103 /* Store the stack pointer into the TCB */
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106 /* Save the link register */
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115 .macro portRESTORE_STACK_POINTER_AND_LR
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117 /* Restore the link register */
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124 /* Get the address of the TCB. */
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126 addis SP, R0, pxCurrentTCB@ha
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127 lwz SP, pxCurrentTCB@l( R1 )
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129 /* Get the task stack pointer from the TCB. */
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135 vPortStartFirstTask:
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137 /* Get the address of the TCB. */
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139 addis SP, R0, pxCurrentTCB@ha
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140 lwz SP, pxCurrentTCB@l( SP )
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142 /* Get the task stack pointer from the TCB. */
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145 /* Restore MSR register to SRR1. */
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146 lwz R0, MSRField(R1)
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149 /* Restore current PC location to SRR0. */
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150 lwz R0, PCField(R1)
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153 /* Save USPRG0 register */
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154 lwz R0, USPRG0Field(R1)
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157 /* Restore Condition register */
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158 lwz R0, CRField(R1)
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161 /* Restore Fixed Point Exception register */
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162 lwz R0, XERField(R1)
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165 /* Restore Counter register */
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166 lwz R0, CTRField(R1)
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169 /* Restore Link register */
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170 lwz R0, LRField(R1)
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173 /* Restore remaining GPR registers. */
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174 lmw R3,r3r31Field(R1)
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176 /* Restore r0 and r2. */
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177 lwz R0, r0Field(R1)
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178 lwz R2, r2Field(R1)
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180 /* Remove frame from stack */
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181 addi R1,R1,IFrameSize
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183 /* Return into the first task */
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190 portSAVE_STACK_POINTER_AND_LR
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191 bl vTaskSwitchContext
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192 portRESTORE_STACK_POINTER_AND_LR
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197 portSAVE_STACK_POINTER_AND_LR
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198 bl vTaskIncrementTick
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200 #if configUSE_PREEMPTION == 1
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201 bl vTaskSwitchContext
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204 /* Clear the interrupt */
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208 portRESTORE_STACK_POINTER_AND_LR
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213 portSAVE_STACK_POINTER_AND_LR
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215 portRESTORE_STACK_POINTER_AND_LR
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218 #if configUSE_FPU == 1
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220 vPortSaveFPURegisters:
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222 /* Enable APU and mark FPU as present. */
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232 /* Buffer address is in r3. Save each flop register into an offset from
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233 this buffer address. */
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267 /* Also save the FPSCR. */
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273 /* Buffer address is in r3. Save each flop register into an offset from
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274 this buffer address. */
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308 /* Also save the FPSCR. */
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316 #endif /* configUSE_FPU. */
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319 #if configUSE_FPU == 1
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321 vPortRestoreFPURegisters:
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323 /* Enable APU and mark FPU as present. */
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333 /* Buffer address is in r3. Restore each flop register from an offset
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336 First the FPSCR. */
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375 /* Buffer address is in r3. Restore each flop register from an offset
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378 First the FPSCR. */
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419 #endif /* configUSE_FPU. */
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