2 FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT
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5 http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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7 ***************************************************************************
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9 * FreeRTOS tutorial books are available in pdf and paperback. *
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10 * Complete, revised, and edited pdf reference manuals are also *
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13 * Purchasing FreeRTOS documentation will not only help you, by *
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14 * ensuring you get running as quickly as possible and with an *
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15 * in-depth knowledge of how to use FreeRTOS, it will also help *
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16 * the FreeRTOS project to continue with its mission of providing *
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17 * professional grade, cross platform, de facto standard solutions *
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18 * for microcontrollers - completely free of charge! *
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20 * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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22 * Thank you for using FreeRTOS, and thank you for your support! *
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24 ***************************************************************************
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27 This file is part of the FreeRTOS distribution.
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29 FreeRTOS is free software; you can redistribute it and/or modify it under
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30 the terms of the GNU General Public License (version 2) as published by the
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31 Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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33 >>>>>>NOTE<<<<<< The modification to the GPL is included to allow you to
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34 distribute a combined work that includes FreeRTOS without being obliged to
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35 provide the source code for proprietary components outside of the FreeRTOS
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38 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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39 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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40 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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41 details. You should have received a copy of the GNU General Public License
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42 and the FreeRTOS license exception along with FreeRTOS; if not it can be
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43 viewed here: http://www.freertos.org/a00114.html and also obtained by
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44 writing to Real Time Engineers Ltd., contact details for whom are available
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45 on the FreeRTOS WEB site.
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49 ***************************************************************************
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51 * Having a problem? Start by reading the FAQ "My application does *
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52 * not run, what could be wrong?" *
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54 * http://www.FreeRTOS.org/FAQHelp.html *
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56 ***************************************************************************
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59 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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60 license and Real Time Engineers Ltd. contact details.
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62 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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63 including FreeRTOS+Trace - an indispensable productivity tool, and our new
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64 fully thread aware and reentrant UDP/IP stack.
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66 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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67 Integrity Systems, who sell the code with commercial support,
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68 indemnification and middleware, under the OpenRTOS brand.
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70 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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71 engineered and independently SIL3 certified version for use in safety and
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72 mission critical applications that require provable dependability.
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75 #include <FreeRTOSConfig.h>
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81 EXTERN vTaskSwitchContext
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83 PUBLIC xPortPendSVHandler
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84 PUBLIC ulPortSetInterruptMask
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85 PUBLIC vPortClearInterruptMask
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86 PUBLIC vPortSVCHandler
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87 PUBLIC vPortStartFirstTask
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88 PUBLIC vPortEnableVFP
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91 /*-----------------------------------------------------------*/
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96 /* Get the location of the current TCB. */
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97 ldr r3, =pxCurrentTCB
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100 /* Is the task using the FPU context? If so, push high vfp registers. */
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103 vstmdbeq r0!, {s16-s31}
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105 /* Save the core registers. */
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106 stmdb r0!, {r4-r11, r14}
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108 /* Save the new top of stack into the first member of the TCB. */
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111 stmdb sp!, {r3, r14}
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112 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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114 bl vTaskSwitchContext
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117 ldmia sp!, {r3, r14}
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119 /* The first item in pxCurrentTCB is the task top of stack. */
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123 /* Pop the core registers. */
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124 ldmia r0!, {r4-r11, r14}
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126 /* Is the task using the FPU context? If so, pop the high vfp registers
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130 vldmiaeq r0!, {s16-s31}
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136 /*-----------------------------------------------------------*/
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138 ulPortSetInterruptMask:
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140 mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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144 /*-----------------------------------------------------------*/
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146 vPortClearInterruptMask:
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150 /*-----------------------------------------------------------*/
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153 /* Get the location of the current TCB. */
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154 ldr r3, =pxCurrentTCB
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157 /* Pop the core registers. */
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158 ldmia r0!, {r4-r11, r14}
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164 /*-----------------------------------------------------------*/
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166 vPortStartFirstTask
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167 /* Use the NVIC offset register to locate the stack. */
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168 ldr r0, =0xE000ED08
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171 /* Set the msp back to the start of the stack. */
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173 /* Call SVC to start the first task. */
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177 /*-----------------------------------------------------------*/
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180 /* The FPU enable bits are in the CPACR. */
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181 ldr.w r0, =0xE000ED88
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184 /* Enable CP10 and CP11 coprocessors, then save back. */
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185 orr r1, r1, #( 0xf << 20 )
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