2 FreeRTOS V7.5.3 - Copyright (C) 2013 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 ***************************************************************************
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9 * FreeRTOS provides completely free yet professionally developed, *
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10 * robust, strictly quality controlled, supported, and cross *
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11 * platform software that has become a de facto standard. *
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13 * Help yourself get started quickly and support the FreeRTOS *
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14 * project by purchasing a FreeRTOS tutorial book, reference *
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15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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19 ***************************************************************************
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21 This file is part of the FreeRTOS distribution.
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23 FreeRTOS is free software; you can redistribute it and/or modify it under
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24 the terms of the GNU General Public License (version 2) as published by the
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25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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27 >>! NOTE: The modification to the GPL is included to allow you to distribute
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28 >>! a combined work that includes FreeRTOS without being obliged to provide
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29 >>! the source code for proprietary components outside of the FreeRTOS
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32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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35 link: http://www.freertos.org/a00114.html
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39 ***************************************************************************
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41 * Having a problem? Start by reading the FAQ "My application does *
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42 * not run, what could be wrong?" *
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44 * http://www.FreeRTOS.org/FAQHelp.html *
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46 ***************************************************************************
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48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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49 license and Real Time Engineers Ltd. contact details.
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51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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57 licenses offer ticketed support, indemnification and middleware.
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59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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60 engineered and independently SIL3 certified version for use in safety and
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61 mission critical applications that require provable dependability.
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66 #include <FreeRTOSConfig.h>
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71 EXTERN vPortYieldFromISR
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73 EXTERN vTaskSwitchContext
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76 PUBLIC xPortPendSVHandler
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77 PUBLIC vPortSVCHandler
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78 PUBLIC vPortStartFirstTask
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79 PUBLIC ulSetInterruptMaskFromISR
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80 PUBLIC vClearInterruptMaskFromISR
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82 /*-----------------------------------------------------------*/
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88 /*-----------------------------------------------------------*/
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93 ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
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96 subs r0, r0, #32 /* Make space for the remaining low registers. */
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97 str r0, [r2] /* Save the new top of stack. */
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98 stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */
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99 mov r4, r8 /* Store the high registers. */
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107 bl vTaskSwitchContext
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109 pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */
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112 ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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113 adds r0, r0, #16 /* Move to the high registers. */
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114 ldmia r0!, {r4-r7} /* Pop the high registers. */
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120 msr psp, r0 /* Remember the new top of stack for the task. */
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122 subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */
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123 ldmia r0!, {r4-r7} /* Pop low registers. */
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127 /*-----------------------------------------------------------*/
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130 ldr r3, =pxCurrentTCB /* Restore the context. */
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131 ldr r1, [r3] /* Get the pxCurrentTCB address. */
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132 ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
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133 adds r0, r0, #16 /* Move to the high registers. */
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134 ldmia r0!, {r4-r7} /* Pop the high registers. */
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140 msr psp, r0 /* Remember the new top of stack for the task. */
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142 subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */
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143 ldmia r0!, {r4-r7} /* Pop low registers. */
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144 mov r1, r14 /* OR R14 with 0x0d. */
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149 /*-----------------------------------------------------------*/
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151 vPortStartFirstTask
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152 /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
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153 table offset register that can be used to locate the initial stack value.
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154 Not all M0 parts have the application vector table at address 0. */
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155 cpsie i /* Globally enable interrupts. */
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156 svc 0 /* System call to start first task. */
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159 /*-----------------------------------------------------------*/
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161 ulSetInterruptMaskFromISR
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166 /*-----------------------------------------------------------*/
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168 vClearInterruptMaskFromISR
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