2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 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.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 #include "FreeRTOSConfig.h"
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30 .extern pxCurrentTCB
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31 .extern vTaskSwitchContext
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32 .extern xTaskIncrementTick
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33 .extern vPortISRHandler
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35 .global vPortStartFirstTask
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37 .global vPortTickISR
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38 .global vPortISRWrapper
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39 .global vPortSaveFPURegisters
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40 .global vPortRestoreFPURegisters
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43 .set NextLRField, BChainField + 4
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44 .set MSRField, NextLRField + 4
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45 .set PCField, MSRField + 4
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46 .set LRField, PCField + 4
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47 .set CTRField, LRField + 4
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48 .set XERField, CTRField + 4
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49 .set CRField, XERField + 4
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50 .set USPRG0Field, CRField + 4
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51 .set r0Field, USPRG0Field + 4
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52 .set r2Field, r0Field + 4
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53 .set r3r31Field, r2Field + 4
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54 .set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
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57 .macro portSAVE_STACK_POINTER_AND_LR
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59 /* Get the address of the TCB. */
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61 addis R2, R0, pxCurrentTCB@ha
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62 lwz R2, pxCurrentTCB@l( R2 )
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64 /* Store the stack pointer into the TCB */
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67 /* Save the link register */
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76 .macro portRESTORE_STACK_POINTER_AND_LR
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78 /* Restore the link register */
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85 /* Get the address of the TCB. */
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87 addis SP, R0, pxCurrentTCB@ha
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88 lwz SP, pxCurrentTCB@l( R1 )
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90 /* Get the task stack pointer from the TCB. */
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96 vPortStartFirstTask:
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98 /* Get the address of the TCB. */
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100 addis SP, R0, pxCurrentTCB@ha
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101 lwz SP, pxCurrentTCB@l( SP )
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103 /* Get the task stack pointer from the TCB. */
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106 /* Restore MSR register to SRR1. */
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107 lwz R0, MSRField(R1)
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110 /* Restore current PC location to SRR0. */
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111 lwz R0, PCField(R1)
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114 /* Save USPRG0 register */
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115 lwz R0, USPRG0Field(R1)
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118 /* Restore Condition register */
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119 lwz R0, CRField(R1)
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122 /* Restore Fixed Point Exception register */
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123 lwz R0, XERField(R1)
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126 /* Restore Counter register */
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127 lwz R0, CTRField(R1)
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130 /* Restore Link register */
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131 lwz R0, LRField(R1)
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134 /* Restore remaining GPR registers. */
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135 lmw R3,r3r31Field(R1)
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137 /* Restore r0 and r2. */
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138 lwz R0, r0Field(R1)
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139 lwz R2, r2Field(R1)
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141 /* Remove frame from stack */
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142 addi R1,R1,IFrameSize
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144 /* Return into the first task */
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151 portSAVE_STACK_POINTER_AND_LR
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152 bl vTaskSwitchContext
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153 portRESTORE_STACK_POINTER_AND_LR
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158 portSAVE_STACK_POINTER_AND_LR
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159 bl xTaskIncrementTick
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161 #if configUSE_PREEMPTION == 1
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162 bl vTaskSwitchContext
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165 /* Clear the interrupt */
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169 portRESTORE_STACK_POINTER_AND_LR
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174 portSAVE_STACK_POINTER_AND_LR
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176 portRESTORE_STACK_POINTER_AND_LR
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179 #if configUSE_FPU == 1
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181 vPortSaveFPURegisters:
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183 /* Enable APU and mark FPU as present. */
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193 /* Buffer address is in r3. Save each flop register into an offset from
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194 this buffer address. */
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228 /* Also save the FPSCR. */
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234 /* Buffer address is in r3. Save each flop register into an offset from
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235 this buffer address. */
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269 /* Also save the FPSCR. */
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277 #endif /* configUSE_FPU. */
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280 #if configUSE_FPU == 1
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282 vPortRestoreFPURegisters:
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284 /* Enable APU and mark FPU as present. */
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294 /* Buffer address is in r3. Restore each flop register from an offset
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297 First the FPSCR. */
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336 /* Buffer address is in r3. Restore each flop register from an offset
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339 First the FPSCR. */
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380 #endif /* configUSE_FPU. */
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