2 FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
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5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 This file is part of the FreeRTOS distribution.
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9 FreeRTOS is free software; you can redistribute it and/or modify it under
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10 the terms of the GNU General Public License (version 2) as published by the
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11 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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13 >>! NOTE: The modification to the GPL is included to allow you to !<<
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14 >>! distribute a combined work that includes FreeRTOS without being !<<
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15 >>! obliged to provide the source code for proprietary components !<<
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16 >>! outside of the FreeRTOS kernel. !<<
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18 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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19 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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20 FOR A PARTICULAR PURPOSE. Full license text is available on the following
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21 link: http://www.freertos.org/a00114.html
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25 ***************************************************************************
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27 * Having a problem? Start by reading the FAQ "My application does *
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28 * not run, what could be wrong?". Have you defined configASSERT()? *
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30 * http://www.FreeRTOS.org/FAQHelp.html *
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32 ***************************************************************************
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34 ***************************************************************************
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36 * FreeRTOS provides completely free yet professionally developed, *
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37 * robust, strictly quality controlled, supported, and cross *
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38 * platform software that is more than just the market leader, it *
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39 * is the industry's de facto standard. *
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41 * Help yourself get started quickly while simultaneously helping *
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42 * to support the FreeRTOS project by purchasing a FreeRTOS *
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43 * tutorial book, reference manual, or both: *
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44 * http://www.FreeRTOS.org/Documentation *
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46 ***************************************************************************
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48 ***************************************************************************
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50 * Investing in training allows your team to be as productive as *
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51 * possible as early as possible, lowering your overall development *
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52 * cost, and enabling you to bring a more robust product to market *
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53 * earlier than would otherwise be possible. Richard Barry is both *
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54 * the architect and key author of FreeRTOS, and so also the world's *
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55 * leading authority on what is the world's most popular real time *
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56 * kernel for deeply embedded MCU designs. Obtaining your training *
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57 * from Richard ensures your team will gain directly from his in-depth *
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58 * product knowledge and years of usage experience. Contact Real Time *
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59 * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented *
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60 * by Richard Barry: http://www.FreeRTOS.org/contact
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62 ***************************************************************************
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64 ***************************************************************************
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66 * You are receiving this top quality software for free. Please play *
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67 * fair and reciprocate by reporting any suspected issues and *
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68 * participating in the community forum: *
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69 * http://www.FreeRTOS.org/support *
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73 ***************************************************************************
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75 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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76 license and Real Time Engineers Ltd. contact details.
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78 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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79 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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80 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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82 http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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83 Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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85 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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86 Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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87 licenses offer ticketed support, indemnification and commercial middleware.
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89 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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90 engineered and independently SIL3 certified version for use in safety and
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91 mission critical applications that require provable dependability.
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96 #include <FreeRTOSConfig.h>
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101 EXTERN vPortYieldFromISR
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102 EXTERN pxCurrentTCB
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103 EXTERN vTaskSwitchContext
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106 PUBLIC xPortPendSVHandler
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107 PUBLIC vPortSVCHandler
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108 PUBLIC vPortStartFirstTask
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109 PUBLIC ulSetInterruptMaskFromISR
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110 PUBLIC vClearInterruptMaskFromISR
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112 /*-----------------------------------------------------------*/
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118 /*-----------------------------------------------------------*/
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120 xPortPendSVHandler:
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123 ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
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126 subs r0, r0, #32 /* Make space for the remaining low registers. */
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127 str r0, [r2] /* Save the new top of stack. */
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128 stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */
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129 mov r4, r8 /* Store the high registers. */
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137 bl vTaskSwitchContext
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139 pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */
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142 ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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143 adds r0, r0, #16 /* Move to the high registers. */
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144 ldmia r0!, {r4-r7} /* Pop the high registers. */
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150 msr psp, r0 /* Remember the new top of stack for the task. */
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152 subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */
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153 ldmia r0!, {r4-r7} /* Pop low registers. */
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157 /*-----------------------------------------------------------*/
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160 /* This function is no longer used, but retained for backward
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164 /*-----------------------------------------------------------*/
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166 vPortStartFirstTask
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167 /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
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168 table offset register that can be used to locate the initial stack value.
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169 Not all M0 parts have the application vector table at address 0. */
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171 ldr r3, =pxCurrentTCB /* Obtain location of pxCurrentTCB. */
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173 ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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174 adds r0, #32 /* Discard everything up to r0. */
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175 msr psp, r0 /* This is now the new top of stack to use in the task. */
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176 movs r0, #2 /* Switch to the psp stack. */
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178 pop {r0-r5} /* Pop the registers that are saved automatically. */
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179 mov lr, r5 /* lr is now in r5. */
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180 cpsie i /* The first task has its context and interrupts can be enabled. */
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181 pop {pc} /* Finally, pop the PC to jump to the user defined task code. */
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183 /*-----------------------------------------------------------*/
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185 ulSetInterruptMaskFromISR
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190 /*-----------------------------------------------------------*/
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192 vClearInterruptMaskFromISR
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