| /* | |
| FreeRTOS V8.1.2 - Copyright (C) 2014 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that has become a de facto standard. * | |
| * * | |
| * Help yourself get started quickly and support the FreeRTOS * | |
| * project by purchasing a FreeRTOS tutorial book, reference * | |
| * manual, or both from: http://www.FreeRTOS.org/Documentation * | |
| * * | |
| * Thank you! * | |
| * * | |
| *************************************************************************** | |
| 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 from 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?" * | |
| * * | |
| * http://www.FreeRTOS.org/FAQHelp.html * | |
| * * | |
| *************************************************************************** | |
| 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
| Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
| licenses offer ticketed support, indemnification and 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 vPortYieldFromISR | |
| EXTERN pxCurrentTCB | |
| EXTERN vTaskSwitchContext | |
| PUBLIC vSetMSP | |
| PUBLIC xPortPendSVHandler | |
| PUBLIC vPortSVCHandler | |
| PUBLIC vPortStartFirstTask | |
| PUBLIC ulSetInterruptMaskFromISR | |
| PUBLIC vClearInterruptMaskFromISR | |
| /*-----------------------------------------------------------*/ | |
| vSetMSP | |
| msr msp, r0 | |
| bx lr | |
| /*-----------------------------------------------------------*/ | |
| xPortPendSVHandler: | |
| mrs r0, psp | |
| ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */ | |
| ldr r2, [r3] | |
| subs r0, r0, #32 /* Make space for the remaining low registers. */ | |
| str r0, [r2] /* Save the new top of stack. */ | |
| stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */ | |
| mov r4, r8 /* Store the high registers. */ | |
| mov r5, r9 | |
| mov r6, r10 | |
| mov r7, r11 | |
| stmia r0!, {r4-r7} | |
| push {r3, r14} | |
| cpsid i | |
| bl vTaskSwitchContext | |
| cpsie i | |
| pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */ | |
| ldr r1, [r2] | |
| ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ | |
| adds r0, r0, #16 /* Move to the high registers. */ | |
| ldmia r0!, {r4-r7} /* Pop the high registers. */ | |
| mov r8, r4 | |
| mov r9, r5 | |
| mov r10, r6 | |
| mov r11, r7 | |
| msr psp, r0 /* Remember the new top of stack for the task. */ | |
| subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */ | |
| ldmia r0!, {r4-r7} /* Pop low registers. */ | |
| bx r3 | |
| /*-----------------------------------------------------------*/ | |
| vPortSVCHandler; | |
| /* This function is no longer used, but retained for backward | |
| compatibility. */ | |
| bx lr | |
| /*-----------------------------------------------------------*/ | |
| vPortStartFirstTask | |
| /* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector | |
| table offset register that can be used to locate the initial stack value. | |
| Not all M0 parts have the application vector table at address 0. */ | |
| ldr r3, =pxCurrentTCB /* Obtain location of pxCurrentTCB. */ | |
| ldr r1, [r3] | |
| ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */ | |
| adds r0, #32 /* Discard everything up to r0. */ | |
| msr psp, r0 /* This is now the new top of stack to use in the task. */ | |
| movs r0, #2 /* Switch to the psp stack. */ | |
| msr CONTROL, r0 | |
| pop {r0-r5} /* Pop the registers that are saved automatically. */ | |
| mov lr, r5 /* lr is now in r5. */ | |
| cpsie i /* The first task has its context and interrupts can be enabled. */ | |
| pop {pc} /* Finally, pop the PC to jump to the user defined task code. */ | |
| /*-----------------------------------------------------------*/ | |
| ulSetInterruptMaskFromISR | |
| mrs r0, PRIMASK | |
| cpsid i | |
| bx lr | |
| /*-----------------------------------------------------------*/ | |
| vClearInterruptMaskFromISR | |
| msr PRIMASK, r0 | |
| bx lr | |
| END |