/*\r
- FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd. \r
+ FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.\r
All rights reserved\r
\r
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.\r
*/\r
void xPortPendSVHandler( void ) __attribute__ (( naked ));\r
void xPortSysTickHandler( void );\r
-void vPortSVCHandler( void ) __attribute__ (( naked ));\r
+void vPortSVCHandler( void );\r
\r
/*\r
* Start first task is a separate function so it can be tested in isolation.\r
static void prvTaskExitError( void )\r
{\r
/* A function that implements a task must not exit or attempt to return to\r
- its caller as there is nothing to return to. If a task wants to exit it \r
+ its caller as there is nothing to return to. If a task wants to exit it\r
should instead call vTaskDelete( NULL ).\r
- \r
- Artificially force an assert() to be triggered if configASSERT() is \r
+\r
+ Artificially force an assert() to be triggered if configASSERT() is\r
defined, then stop here so application writers can catch the error. */\r
configASSERT( uxCriticalNesting == ~0UL );\r
- portDISABLE_INTERRUPTS(); \r
+ portDISABLE_INTERRUPTS();\r
for( ;; );\r
}\r
/*-----------------------------------------------------------*/\r
\r
void vPortSVCHandler( void )\r
{\r
- __asm volatile (\r
- " ldr r3, pxCurrentTCBConst2 \n" /* Restore the context. */\r
- " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */\r
- " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */\r
- " add r0, r0, #16 \n" /* Move to the high registers. */\r
- " ldmia r0!, {r4-r7} \n" /* Pop the high registers. */\r
- " mov r8, r4 \n"\r
- " mov r9, r5 \n"\r
- " mov r10, r6 \n"\r
- " mov r11, r7 \n"\r
- " \n"\r
- " msr psp, r0 \n" /* Remember the new top of stack for the task. */\r
- " \n"\r
- " sub r0, r0, #32 \n" /* Go back for the low registers that are not automatically restored. */\r
- " ldmia r0!, {r4-r7} \n" /* Pop low registers. */\r
- " mov r1, r14 \n" /* OR R14 with 0x0d. */\r
- " movs r0, #0x0d \n"\r
- " orr r1, r0 \n"\r
- " bx r1 \n"\r
- " \n"\r
- " .align 2 \n"\r
- "pxCurrentTCBConst2: .word pxCurrentTCB \n"\r
- );\r
+ /* This function is no longer used, but returned for backward\r
+ compatibility. */\r
}\r
/*-----------------------------------------------------------*/\r
\r
table offset register that can be used to locate the initial stack value.\r
Not all M0 parts have the application vector table at address 0. */\r
__asm volatile(\r
- " cpsie i \n" /* Globally enable interrupts. */\r
- " svc 0 \n" /* System call to start first task. */\r
- " nop \n"\r
+ " ldr r2, pxCurrentTCBConst2 \n" /* Obtain location of pxCurrentTCB. */\r
+ " ldr r3, [r2] \n"\r
+ " ldr r0, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */\r
+ " add r0, #32 \n" /* Discard everything up to r0. */\r
+ " msr psp, r0 \n" /* This is now the new top of stack to use in the task. */\r
+ " movs r0, #2 \n" /* Switch to the psp stack. */\r
+ " msr CONTROL, r0 \n"\r
+ " pop {r0-r5} \n" /* Pop the registers that are saved automatically. */\r
+ " mov lr, r5 \n" /* lr is now in r5. */\r
+ " cpsie i \n" /* The first task has its context and interrupts can be enabled. */\r
+ " pop {pc} \n" /* Finally, pop the PC to jump to the user defined task code. */\r
+ " \n"\r
+ " .align 2 \n"\r
+ "pxCurrentTCBConst2: .word pxCurrentTCB " \r
);\r
}\r
/*-----------------------------------------------------------*/\r
" msr PRIMASK, r0 \n"\r
" bx lr "\r
);\r
- \r
+\r
/* Just to avoid compiler warning. */\r
( void ) ulMask;\r
}\r
projects / freertos / blobdiff