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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73 EXTERN vTaskSwitchContext
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75 PUBLIC xPortPendSVHandler
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76 PUBLIC vPortSetInterruptMask
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77 PUBLIC vPortClearInterruptMask
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78 PUBLIC vPortSVCHandler
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79 PUBLIC vPortStartFirstTask
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80 PUBLIC vPortEnableVFP
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83 /*-----------------------------------------------------------*/
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88 /* Get the location of the current TCB. */
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89 ldr r3, =pxCurrentTCB
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92 /* Is the task using the FPU context? If so, push high vfp registers. */
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95 vstmdbeq r0!, {s16-s31}
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97 /* Save the core registers. */
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98 stmdb r0!, {r4-r11, r14}
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100 /* Save the new top of stack into the first member of the TCB. */
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103 stmdb sp!, {r3, r14}
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104 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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106 bl vTaskSwitchContext
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109 ldmia sp!, {r3, r14}
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111 /* The first item in pxCurrentTCB is the task top of stack. */
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115 /* Pop the core registers. */
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116 ldmia r0!, {r4-r11, r14}
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118 /* Is the task using the FPU context? If so, pop the high vfp registers
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122 vldmiaeq r0!, {s16-s31}
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128 /*-----------------------------------------------------------*/
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130 vPortSetInterruptMask:
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131 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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136 /*-----------------------------------------------------------*/
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138 vPortClearInterruptMask:
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144 /*-----------------------------------------------------------*/
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147 /* Get the location of the current TCB. */
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148 ldr r3, =pxCurrentTCB
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151 /* Pop the core registers. */
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152 ldmia r0!, {r4-r11, r14}
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158 /*-----------------------------------------------------------*/
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160 vPortStartFirstTask:
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161 /* Use the NVIC offset register to locate the stack. */
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162 ldr r0, =0xE000ED08
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165 /* Set the msp back to the start of the stack. */
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167 /* Call SVC to start the first task. */
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171 /*-----------------------------------------------------------*/
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174 /* The FPU enable bits are in the CPACR. */
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175 ldr.w r0, =0xE000ED88
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178 /* Enable CP10 and CP11 coprocessors, then save back. */
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179 orr r1, r1, #( 0xf << 20 )
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