2 * FreeRTOS Kernel V10.0.0
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3 * Copyright (C) 2017 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. If you wish to use our Amazon
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14 * FreeRTOS name, please do so in a fair use way that does not cause confusion.
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16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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18 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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19 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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20 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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21 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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23 * http://www.FreeRTOS.org
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24 * http://aws.amazon.com/freertos
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26 * 1 tab == 4 spaces!
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29 /*-----------------------------------------------------------
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30 * Implementation of functions defined in portable.h for the ARM CM4F port.
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31 *----------------------------------------------------------*/
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33 /* Scheduler includes. */
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34 #include "FreeRTOS.h"
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38 * Start first task is a separate function so it can be tested in isolation.
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40 void vPortStartFirstTask( void ) __attribute__ (( naked ));
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43 * Exception handlers.
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45 void vPortSVCHandler( void ) __attribute__ (( naked ));
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46 void xPortPendSVHandler( void ) __attribute__ (( naked ));
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49 /*-----------------------------------------------------------*/
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51 void vPortStartFirstTask( void )
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54 #if defined(__SES_ARM)
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55 " ldr r0, =_vectors \n" /* Locate the stack using _vectors table. */
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57 " ldr r0, =__isr_vector \n" /* Locate the stack using __isr_vector table. */
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60 " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
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61 " cpsie i \n" /* Globally enable interrupts. */
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65 #ifdef SOFTDEVICE_PRESENT
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66 /* Block kernel interrupts only (PendSV) before calling SVC */
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68 " msr basepri, r0 \n"
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70 " svc 0 \n" /* System call to start first task. */
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73 #ifdef SOFTDEVICE_PRESENT
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74 ::"i"(configKERNEL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
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79 /*-----------------------------------------------------------*/
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81 void vPortSVCHandler( void )
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84 " ldr r3, =pxCurrentTCB \n" /* Restore the context. */
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85 " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
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86 " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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87 " ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
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88 " msr psp, r0 \n" /* Restore the task stack pointer. */
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91 " msr basepri, r0 \n"
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98 /*-----------------------------------------------------------*/
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100 void xPortPendSVHandler( void )
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102 /* This is a naked function. */
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109 " ldr r3, =pxCurrentTCB \n" /* Get the location of the current TCB. */
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112 " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
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114 " vstmdbeq r0!, {s16-s31} \n"
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116 " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
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118 " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
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120 " stmdb sp!, {r3} \n"
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122 " msr basepri, r0 \n"
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125 " bl vTaskSwitchContext \n"
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127 " msr basepri, r0 \n"
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128 " ldmia sp!, {r3} \n"
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130 " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
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133 " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
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135 " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
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137 " vldmiaeq r0!, {s16-s31} \n"
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146 ::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
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