/* FreeRTOS V8.2.0rc1 - Copyright (C) 2014 Real Time Engineers Ltd. All rights reserved VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. >>! NOTE: The modification to the GPL is included to allow you to !<< >>! distribute a combined work that includes FreeRTOS without being !<< >>! obliged to provide the source code for proprietary components !<< >>! outside of the FreeRTOS kernel. !<< FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. Full license text is available on the following link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! *************************************************************************** * * * Having a problem? Start by reading the FAQ "My application does * * not run, what could be wrong?". Have you defined configASSERT()? * * * * http://www.FreeRTOS.org/FAQHelp.html * * * *************************************************************************** *************************************************************************** * * * FreeRTOS provides completely free yet professionally developed, * * robust, strictly quality controlled, supported, and cross * * platform software that is more than just the market leader, it * * is the industry's de facto standard. * * * * Help yourself get started quickly while simultaneously helping * * to support the FreeRTOS project by purchasing a FreeRTOS * * tutorial book, reference manual, or both: * * http://www.FreeRTOS.org/Documentation * * * *************************************************************************** *************************************************************************** * * * Investing in training allows your team to be as productive as * * possible as early as possible, lowering your overall development * * cost, and enabling you to bring a more robust product to market * * earlier than would otherwise be possible. Richard Barry is both * * the architect and key author of FreeRTOS, and so also the world's * * leading authority on what is the world's most popular real time * * kernel for deeply embedded MCU designs. Obtaining your training * * from Richard ensures your team will gain directly from his in-depth * * product knowledge and years of usage experience. Contact Real Time * * Engineers Ltd to enquire about the FreeRTOS Masterclass, presented * * by Richard Barry: http://www.FreeRTOS.org/contact * * *************************************************************************** *************************************************************************** * * * You are receiving this top quality software for free. Please play * * fair and reciprocate by reporting any suspected issues and * * participating in the community forum: * * http://www.FreeRTOS.org/support * * * * Thank you! * * * *************************************************************************** http://www.FreeRTOS.org - Documentation, books, training, latest versions, license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, including FreeRTOS+Trace - an indispensable productivity tool, a DOS compatible FAT file system, and our tiny thread aware UDP/IP stack. http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate. Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS. http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS licenses offer ticketed support, indemnification and commercial middleware. http://www.SafeRTOS.com - High Integrity Systems also provide a safety engineered and independently SIL3 certified version for use in safety and mission critical applications that require provable dependability. 1 tab == 4 spaces! */ #include RSEG CODE:CODE(2) thumb EXTERN pxCurrentTCB EXTERN vTaskSwitchContext PUBLIC xPortPendSVHandler PUBLIC vPortSVCHandler PUBLIC vPortStartFirstTask PUBLIC vPortEnableVFP /*-----------------------------------------------------------*/ xPortPendSVHandler: mrs r0, psp isb /* Get the location of the current TCB. */ ldr r3, =pxCurrentTCB ldr r2, [r3] /* Is the task using the FPU context? If so, push high vfp registers. */ tst r14, #0x10 it eq vstmdbeq r0!, {s16-s31} /* Save the core registers. */ stmdb r0!, {r4-r11, r14} /* Save the new top of stack into the first member of the TCB. */ str r0, [r2] stmdb sp!, {r3} mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY msr basepri, r0 dsb isb bl vTaskSwitchContext mov r0, #0 msr basepri, r0 ldmia sp!, {r3} /* The first item in pxCurrentTCB is the task top of stack. */ ldr r1, [r3] ldr r0, [r1] /* Pop the core registers. */ ldmia r0!, {r4-r11, r14} /* Is the task using the FPU context? If so, pop the high vfp registers too. */ tst r14, #0x10 it eq vldmiaeq r0!, {s16-s31} msr psp, r0 isb #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */ #if WORKAROUND_PMU_CM001 == 1 push { r14 } pop { pc } #endif #endif bx r14 /*-----------------------------------------------------------*/ vPortSVCHandler: /* Get the location of the current TCB. */ ldr r3, =pxCurrentTCB ldr r1, [r3] ldr r0, [r1] /* Pop the core registers. */ ldmia r0!, {r4-r11, r14} msr psp, r0 isb mov r0, #0 msr basepri, r0 bx r14 /*-----------------------------------------------------------*/ vPortStartFirstTask /* Use the NVIC offset register to locate the stack. */ ldr r0, =0xE000ED08 ldr r0, [r0] ldr r0, [r0] /* Set the msp back to the start of the stack. */ msr msp, r0 /* Call SVC to start the first task. */ cpsie i cpsie f dsb isb svc 0 /*-----------------------------------------------------------*/ vPortEnableVFP: /* The FPU enable bits are in the CPACR. */ ldr.w r0, =0xE000ED88 ldr r1, [r0] /* Enable CP10 and CP11 coprocessors, then save back. */ orr r1, r1, #( 0xf << 20 ) str r1, [r0] bx r14 END