2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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36 /* Hardware registers. */
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41 /* Variables and functions. */
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42 .extern ulMaxAPIPriorityMask
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43 .extern _freertos_vector_table
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44 .extern pxCurrentTCB
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45 .extern vTaskSwitchContext
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46 .extern vApplicationIRQHandler
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47 .extern ulPortInterruptNesting
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48 .extern ulPortTaskHasFPUContext
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50 .global FreeRTOS_IRQ_Handler
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51 .global FreeRTOS_SWI_Handler
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52 .global vPortRestoreTaskContext
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57 .macro portSAVE_CONTEXT
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59 /* Save the LR and SPSR onto the system mode stack before switching to
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60 system mode to save the remaining system mode registers. */
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61 SRSDB sp!, #SYS_MODE
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65 /* Push the critical nesting count. */
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66 LDR R2, ulCriticalNestingConst
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70 /* Does the task have a floating point context that needs saving? If
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71 ulPortTaskHasFPUContext is 0 then no. */
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72 LDR R2, ulPortTaskHasFPUContextConst
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76 /* Save the floating point context, if any. */
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82 /* Save ulPortTaskHasFPUContext itself. */
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85 /* Save the stack pointer in the TCB. */
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86 LDR R0, pxCurrentTCBConst
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92 ; /**********************************************************************/
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94 .macro portRESTORE_CONTEXT
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96 /* Set the SP to point to the stack of the task being restored. */
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97 LDR R0, pxCurrentTCBConst
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101 /* Is there a floating point context to restore? If the restored
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102 ulPortTaskHasFPUContext is zero then no. */
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103 LDR R0, ulPortTaskHasFPUContextConst
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108 /* Restore the floating point context, if any. */
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114 /* Restore the critical section nesting depth. */
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115 LDR R0, ulCriticalNestingConst
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119 /* Ensure the priority mask is correct for the critical nesting depth. */
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120 LDR R2, ulICCPMRConst
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124 LDRNE R4, ulMaxAPIPriorityMaskConst
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128 /* Restore all system mode registers other than the SP (which is already
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132 /* Return to the task code, loading CPSR on the way. */
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140 /******************************************************************************
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141 * SVC handler is used to start the scheduler.
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142 *****************************************************************************/
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144 .type FreeRTOS_SWI_Handler, %function
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145 FreeRTOS_SWI_Handler:
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146 /* Save the context of the current task and select a new task to run. */
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148 LDR R0, vTaskSwitchContextConst
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150 portRESTORE_CONTEXT
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153 /******************************************************************************
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154 * vPortRestoreTaskContext is used to start the scheduler.
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155 *****************************************************************************/
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156 .type vPortRestoreTaskContext, %function
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157 vPortRestoreTaskContext:
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158 /* Switch to system mode. */
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160 portRESTORE_CONTEXT
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163 .type FreeRTOS_IRQ_Handler, %function
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164 FreeRTOS_IRQ_Handler:
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165 /* Return to the interrupted instruction. */
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168 /* Push the return address and SPSR. */
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173 /* Change to supervisor mode to allow reentry. */
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176 /* Push used registers. */
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179 /* Increment nesting count. r3 holds the address of ulPortInterruptNesting
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180 for future use. r1 holds the original ulPortInterruptNesting value for
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182 LDR r3, ulPortInterruptNestingConst
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187 /* Read value from the interrupt acknowledge register, which is stored in r0
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188 for future parameter and interrupt clearing use. */
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189 LDR r2, ulICCIARConst
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193 /* Ensure bit 2 of the stack pointer is clear. r2 holds the bit 2 value for
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194 future use. _RB_ Does this ever actually need to be done provided the start
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195 of the stack is 8-byte aligned? */
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200 /* Call the interrupt handler. r4 pushed to maintain alignment. */
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202 LDR r1, vApplicationIRQHandlerConst
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211 /* Write the value read from ICCIAR to ICCEOIR. */
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212 LDR r4, ulICCEOIRConst
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216 /* Restore the old nesting count. */
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219 /* A context switch is never performed if the nesting count is not 0. */
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221 BNE exit_without_switch
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223 /* Did the interrupt request a context switch? r1 holds the address of
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224 ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
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226 LDR r1, =ulPortYieldRequired
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229 BNE switch_before_exit
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231 exit_without_switch:
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232 /* No context switch. Restore used registers, LR_irq and SPSR before
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241 switch_before_exit:
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242 /* A context swtich is to be performed. Clear the context switch pending
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247 /* Restore used registers, LR-irq and SPSR before saving the context
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248 to the task stack. */
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256 /* Call the function that selects the new task to execute.
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257 vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
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258 instructions, or 8 byte aligned stack allocated data. LR does not need
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259 saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
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260 LDR R0, vTaskSwitchContextConst
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263 /* Restore the context of, and branch to, the task selected to execute
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265 portRESTORE_CONTEXT
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268 /******************************************************************************
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269 * If the application provides an implementation of vApplicationIRQHandler(),
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270 * then it will get called directly without saving the FPU registers on
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271 * interrupt entry, and this weak implementation of
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272 * vApplicationIRQHandler() will not get called.
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274 * If the application provides its own implementation of
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275 * vApplicationFPUSafeIRQHandler() then this implementation of
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276 * vApplicationIRQHandler() will be called, save the FPU registers, and then
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277 * call vApplicationFPUSafeIRQHandler().
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279 * Therefore, if the application writer wants FPU registers to be saved on
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280 * interrupt entry their IRQ handler must be called
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281 * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
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282 * FPU registers to be saved on interrupt entry their IRQ handler must be
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283 * called vApplicationIRQHandler().
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284 *****************************************************************************/
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287 .weak vApplicationIRQHandler
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288 .type vApplicationIRQHandler, %function
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289 vApplicationIRQHandler:
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296 LDR r1, vApplicationFPUSafeIRQHandlerConst
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307 ulICCIARConst: .word ulICCIAR
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308 ulICCEOIRConst: .word ulICCEOIR
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309 ulICCPMRConst: .word ulICCPMR
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310 pxCurrentTCBConst: .word pxCurrentTCB
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311 ulCriticalNestingConst: .word ulCriticalNesting
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312 ulPortTaskHasFPUContextConst: .word ulPortTaskHasFPUContext
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313 ulMaxAPIPriorityMaskConst: .word ulMaxAPIPriorityMask
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314 vTaskSwitchContextConst: .word vTaskSwitchContext
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315 vApplicationIRQHandlerConst: .word vApplicationIRQHandler
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316 ulPortInterruptNestingConst: .word ulPortInterruptNesting
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317 vApplicationFPUSafeIRQHandlerConst: .word vApplicationFPUSafeIRQHandler
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