;/* | |
; 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! | |
;*/ | |
.thumb | |
.ref pxCurrentTCB | |
.ref vTaskSwitchContext | |
.ref ulMaxSyscallInterruptPriority | |
.def xPortPendSVHandler | |
.def ulPortGetIPSR | |
.def vPortSVCHandler | |
.def vPortStartFirstTask | |
NVICOffsetConst: .word 0xE000ED08 | |
CPACRConst: .word 0xE000ED88 | |
pxCurrentTCBConst: .word pxCurrentTCB | |
ulMaxSyscallInterruptPriorityConst: .word ulMaxSyscallInterruptPriority | |
; ----------------------------------------------------------- | |
.align 4 | |
ulPortGetIPSR: .asmfunc | |
mrs r0, ipsr | |
bx r14 | |
.endasmfunc | |
; ----------------------------------------------------------- | |
.align 4 | |
vPortSetInterruptMask: .asmfunc | |
push {r0} | |
ldr r0, ulMaxSyscallInterruptPriorityConst | |
msr basepri, r0 | |
pop {r0} | |
bx r14 | |
.endasmfunc | |
; ----------------------------------------------------------- | |
.align 4 | |
xPortPendSVHandler: .asmfunc | |
mrs r0, psp | |
isb | |
;/* Get the location of the current TCB. */ | |
ldr r3, pxCurrentTCBConst | |
ldr r2, [r3] | |
;/* Save the core registers. */ | |
stmdb r0!, {r4-r11} | |
;/* Save the new top of stack into the first member of the TCB. */ | |
str r0, [r2] | |
stmdb sp!, {r3, r14} | |
ldr r0, ulMaxSyscallInterruptPriorityConst | |
ldr r1, [r0] | |
msr basepri, r1 | |
dsb | |
isb | |
bl vTaskSwitchContext | |
mov r0, #0 | |
msr basepri, r0 | |
ldmia sp!, {r3, r14} | |
;/* 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} | |
msr psp, r0 | |
isb | |
bx r14 | |
.endasmfunc | |
; ----------------------------------------------------------- | |
.align 4 | |
vPortSVCHandler: .asmfunc | |
;/* Get the location of the current TCB. */ | |
ldr r3, pxCurrentTCBConst | |
ldr r1, [r3] | |
ldr r0, [r1] | |
;/* Pop the core registers. */ | |
ldmia r0!, {r4-r11} | |
msr psp, r0 | |
isb | |
mov r0, #0 | |
msr basepri, r0 | |
orr r14, #0xd | |
bx r14 | |
.endasmfunc | |
; ----------------------------------------------------------- | |
.align 4 | |
vPortStartFirstTask: .asmfunc | |
;/* Use the NVIC offset register to locate the stack. */ | |
ldr r0, NVICOffsetConst | |
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 | |
.endasmfunc | |
; ----------------------------------------------------------- | |