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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34 EXTERN vTaskSwitchContext
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36 PUBLIC xPortPendSVHandler
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37 PUBLIC vPortSVCHandler
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38 PUBLIC vPortStartFirstTask
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39 PUBLIC vPortEnableVFP
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42 /*-----------------------------------------------------------*/
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47 /* Get the location of the current TCB. */
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48 ldr r3, =pxCurrentTCB
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51 /* Is the task using the FPU context? If so, push high vfp registers. */
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54 vstmdbeq r0!, {s16-s31}
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56 /* Save the core registers. */
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57 stmdb r0!, {r4-r11, r14}
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59 /* Save the new top of stack into the first member of the TCB. */
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63 mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
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69 bl vTaskSwitchContext
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74 /* The first item in pxCurrentTCB is the task top of stack. */
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78 /* Pop the core registers. */
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79 ldmia r0!, {r4-r11, r14}
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81 /* Is the task using the FPU context? If so, pop the high vfp registers
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85 vldmiaeq r0!, {s16-s31}
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89 #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
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90 #if WORKAROUND_PMU_CM001 == 1
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99 /*-----------------------------------------------------------*/
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102 /* Get the location of the current TCB. */
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103 ldr r3, =pxCurrentTCB
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106 /* Pop the core registers. */
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107 ldmia r0!, {r4-r11, r14}
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114 /*-----------------------------------------------------------*/
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116 vPortStartFirstTask
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117 /* Use the NVIC offset register to locate the stack. */
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118 ldr r0, =0xE000ED08
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121 /* Set the msp back to the start of the stack. */
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123 /* Clear the bit that indicates the FPU is in use in case the FPU was used
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124 before the scheduler was started - which would otherwise result in the
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125 unnecessary leaving of space in the SVC stack for lazy saving of FPU
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129 /* Call SVC to start the first task. */
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136 /*-----------------------------------------------------------*/
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139 /* The FPU enable bits are in the CPACR. */
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140 ldr.w r0, =0xE000ED88
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143 /* Enable CP10 and CP11 coprocessors, then save back. */
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144 orr r1, r1, #( 0xf << 20 )
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