/*\r
- FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
+ FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd.\r
All rights reserved\r
\r
\r
licensing and training services.\r
*/\r
\r
-\r
- .org 0\r
.text\r
+ .arm\r
\r
.set SYS_MODE, 0x1f\r
.set SVC_MODE, 0x13\r
.set IRQ_MODE, 0x12\r
\r
- .extern _boot\r
- .extern vTaskSwitchContext\r
+ /* Hardware registers. */\r
.extern ulICCIAR\r
.extern ulICCEOIR\r
+ .extern ulICCPMR\r
+\r
+ /* Variables and functions. */\r
+ .extern ulMaxAPIPriorityMask\r
+ .extern _freertos_vector_table\r
+ .extern pxCurrentTCB\r
+ .extern vTaskSwitchContext\r
+ .extern vApplicationIRQHandler\r
+ .extern ulPortInterruptNesting\r
+ .extern ulPortTaskHasFPUContext\r
\r
- .global _vector_table\r
- .global FIQInterrupt\r
- .global Undefined\r
- .global PrefetchAbortHandler\r
- .global DataAbortInterrupt\r
.global FreeRTOS_IRQ_Handler\r
.global FreeRTOS_SWI_Handler\r
+ .global vPortRestoreTaskContext\r
+ .global vPortInstallFreeRTOSVectorTable\r
+\r
+\r
+\r
+\r
+.macro portSAVE_CONTEXT\r
+\r
+ /* Save the LR and SPSR onto the system mode stack before switching to\r
+ system mode to save the remaining system mode registers. */\r
+ SRSDB sp!, #SYS_MODE\r
+ CPS #SYS_MODE\r
+ PUSH {R0-R12, R14}\r
+\r
+ /* Push the critical nesting count. */\r
+ LDR R2, ulCriticalNestingConst\r
+ LDR R1, [R2]\r
+ PUSH {R1}\r
+\r
+ /* Does the task have a floating point context that needs saving? If\r
+ ulPortTaskHasFPUContext is 0 then no. */\r
+ LDR R2, ulPortTaskHasFPUContextConst\r
+ LDR R3, [R2]\r
+ CMP R3, #0\r
+\r
+ /* Save the floating point context, if any. */\r
+ FMRXNE R1, FPSCR\r
+ VPUSHNE {D0-D15}\r
+ VPUSHNE {D16-D31}\r
+ PUSHNE {R1}\r
+\r
+ /* Save ulPortTaskHasFPUContext itself. */\r
+ PUSH {R3}\r
+\r
+ /* Save the stack pointer in the TCB. */\r
+ LDR R0, pxCurrentTCBConst\r
+ LDR R1, [R0]\r
+ STR SP, [R1]\r
+\r
+ .endm\r
+\r
+; /**********************************************************************/\r
+\r
+.macro portRESTORE_CONTEXT\r
+\r
+ /* Set the SP to point to the stack of the task being restored. */\r
+ LDR R0, pxCurrentTCBConst\r
+ LDR R1, [R0]\r
+ LDR SP, [R1]\r
+\r
+ /* Is there a floating point context to restore? If the restored\r
+ ulPortTaskHasFPUContext is zero then no. */\r
+ LDR R0, ulPortTaskHasFPUContextConst\r
+ POP {R1}\r
+ STR R1, [R0]\r
+ CMP R1, #0\r
+\r
+ /* Restore the floating point context, if any. */\r
+ POPNE {R0}\r
+ VPOPNE {D16-D31}\r
+ VPOPNE {D0-D15}\r
+ VMSRNE FPSCR, R0\r
+\r
+ /* Restore the critical section nesting depth. */\r
+ LDR R0, ulCriticalNestingConst\r
+ POP {R1}\r
+ STR R1, [R0]\r
+\r
+ /* Ensure the priority mask is correct for the critical nesting depth. */\r
+ LDR R2, ulICCPMRConst\r
+ LDR R2, [R2]\r
+ CMP R1, #0\r
+ MOVEQ R4, #255\r
+ LDRNE R4, ulMaxAPIPriorityMaskConst\r
+ LDRNE R4, [R4]\r
+ STR R4, [R2]\r
+\r
+ /* Restore all system mode registers other than the SP (which is already\r
+ being used). */\r
+ POP {R0-R12, R14}\r
+\r
+ /* Return to the task code, loading CPSR on the way. */\r
+ RFEIA sp!\r
+\r
+ .endm\r
\r
- .section .vectors\r
\r
-_vector_table:\r
- B _boot\r
- B Undefined\r
- ldr pc, _swi\r
- B PrefetchAbortHandler\r
- B DataAbortHandler\r
- NOP /* Placeholder for address exception vector*/\r
- LDR PC, _irq\r
- B FIQHandler\r
\r
-_irq: .word FreeRTOS_IRQ_Handler\r
-_swi: .word FreeRTOS_SWI_Handler\r
\r
/******************************************************************************\r
- * SVC handler is used to start the scheduler and yield a task.\r
+ * SVC handler is used to start the scheduler.\r
*****************************************************************************/\r
+.align 4\r
+.type FreeRTOS_SWI_Handler, %function\r
FreeRTOS_SWI_Handler:\r
-\r
/* Save the context of the current task and select a new task to run. */\r
-// portSAVE_CONTEXT\r
- LDR R0, =vTaskSwitchContext\r
+ portSAVE_CONTEXT\r
+ LDR R0, vTaskSwitchContextConst\r
BLX R0\r
+ portRESTORE_CONTEXT\r
\r
+\r
+/******************************************************************************\r
+ * vPortRestoreTaskContext is used to start the scheduler.\r
+ *****************************************************************************/\r
+.type vPortRestoreTaskContext, %function\r
vPortRestoreTaskContext:\r
-// portRESTORE_CONTEXT\r
+ /* Switch to system mode. */\r
+ CPS #SYS_MODE\r
+ portRESTORE_CONTEXT\r
\r
+.align 4\r
+.type FreeRTOS_IRQ_Handler, %function\r
FreeRTOS_IRQ_Handler:\r
/* Return to the interrupted instruction. */\r
SUB lr, lr, #4\r
/* Increment nesting count. r3 holds the address of ulPortInterruptNesting\r
for future use. r1 holds the original ulPortInterruptNesting value for\r
future use. */\r
- LDR r3, =ulPortInterruptNesting\r
+ LDR r3, ulPortInterruptNestingConst\r
LDR r1, [r3]\r
ADD r4, r1, #1\r
STR r4, [r3]\r
/* Read value from the interrupt acknowledge register, which is stored in r0\r
for future parameter and interrupt clearing use. */\r
LDR r2, ulICCIARConst\r
+ LDR r2, [r2]\r
LDR r0, [r2]\r
\r
/* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for\r
\r
/* Call the interrupt handler. */\r
PUSH {r0-r3, lr}\r
- BL vApplicationIRQHandler\r
+ LDR r1, vApplicationIRQHandlerConst\r
+ BLX r1\r
POP {r0-r3, lr}\r
ADD sp, sp, r2\r
\r
CPSID i\r
+ DSB\r
+ ISB\r
\r
/* Write the value read from ICCIAR to ICCEOIR. */\r
LDR r4, ulICCEOIRConst\r
+ LDR r4, [r4]\r
STR r0, [r4]\r
\r
/* Restore the old nesting count. */\r
POP {LR}\r
MSR SPSR_cxsf, LR\r
POP {LR}\r
-// portSAVE_CONTEXT\r
+ portSAVE_CONTEXT\r
\r
/* Call the function that selects the new task to execute.\r
vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD\r
instructions, or 8 byte aligned stack allocated data. LR does not need\r
saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */\r
- BL vTaskSwitchContext\r
+ LDR R0, vTaskSwitchContextConst\r
+ BLX R0\r
\r
/* Restore the context of, and branch to, the task selected to execute\r
next. */\r
-// portRESTORE_CONTEXT\r
+ portRESTORE_CONTEXT\r
\r
ulICCIARConst: .word ulICCIAR\r
ulICCEOIRConst: .word ulICCEOIR\r
-\r
-\r
-Undefined:\r
- B .\r
-\r
-PrefetchAbortHandler:\r
- B .\r
-\r
-FIQHandler:\r
- B .\r
-\r
-DataAbortHandler:\r
- B .\r
+ulICCPMRConst: .word ulICCPMR\r
+pxCurrentTCBConst: .word pxCurrentTCB\r
+ulCriticalNestingConst: .word ulCriticalNesting\r
+ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext\r
+ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask\r
+vTaskSwitchContextConst: .word vTaskSwitchContext\r
+vApplicationIRQHandlerConst: .word vApplicationIRQHandler\r
+ulPortInterruptNestingConst: .word ulPortInterruptNesting\r
\r
.end\r
\r
projects / freertos / blobdiff