/* | |
FreeRTOS V9.0.1 - Copyright (C) 2017 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 | |
*************************************************************************** | |
* * | |
* 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 * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
the FAQ page "My application does not run, what could be wrong?". Have you | |
defined configASSERT()? | |
http://www.FreeRTOS.org/support - In return for receiving this top quality | |
embedded software for free we request you assist our global community by | |
participating in the support forum. | |
http://www.FreeRTOS.org/training - Investing in training allows your team to | |
be as productive as possible as early as possible. Now you can receive | |
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers | |
Ltd, and the world's leading authority on the world's leading RTOS. | |
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 <FreeRTOSConfig.h> | |
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 | |
cpsid i | |
msr basepri, r0 | |
dsb | |
isb | |
cpsie i | |
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 | |
/* Clear the bit that indicates the FPU is in use in case the FPU was used | |
before the scheduler was started - which would otherwise result in the | |
unnecessary leaving of space in the SVC stack for lazy saving of FPU | |
registers. */ | |
mov r0, #0 | |
msr control, 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 | |