1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
|
/*
FreeRTOS V8.0.0 - 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 pxCurrentTCB
EXTERN vTaskSwitchContext
PUBLIC xPortPendSVHandler
PUBLIC ulPortSetInterruptMask
PUBLIC vPortClearInterruptMask
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
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
/*-----------------------------------------------------------*/
ulPortSetInterruptMask:
mrs r0, basepri
mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r1
bx r14
/*-----------------------------------------------------------*/
vPortClearInterruptMask:
msr basepri, r0
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
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
|
