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
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
|
;/*
; FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
; All rights reserved
;
;
; ***************************************************************************
; * *
; * FreeRTOS tutorial books are available in pdf and paperback. *
; * Complete, revised, and edited pdf reference manuals are also *
; * available. *
; * *
; * Purchasing FreeRTOS documentation will not only help you, by *
; * ensuring you get running as quickly as possible and with an *
; * in-depth knowledge of how to use FreeRTOS, it will also help *
; * the FreeRTOS project to continue with its mission of providing *
; * professional grade, cross platform, de facto standard solutions *
; * for microcontrollers - completely free of charge! *
; * *
; * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
; * *
; * Thank you for using FreeRTOS, and thank you for your support! *
; * *
; ***************************************************************************
;
;
; 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. See the GNU General Public License for
; more details. You should have received a copy of the GNU General Public
; License and the FreeRTOS license exception along with FreeRTOS; if not it
; can be viewed here: http://www.freertos.org/a00114.html and also obtained
; by writing to Richard Barry, contact details for whom are available on the
; FreeRTOS WEB site.
;
; 1 tab == 4 spaces!
;
; http://www.FreeRTOS.org - Documentation, latest information, license and
; contact details.
;
; http://www.SafeRTOS.com - A version that is certified for use in safety
; critical systems.
;
; http://www.OpenRTOS.com - Commercial support, development, porting,
; licensing and training services.
;*/
.extern pxCurrentTCB
.extern vTaskSwitchContext
.extern ulMaxSyscallInterruptPriorityConst
.global _vector_14
.global _lc_ref__vector_pp_14
.global SVC_Handler
.global vPortStartFirstTask
.global vPortEnableVFP
.global ulPortSetInterruptMask
.global vPortClearInterruptMask
;-----------------------------------------------------------
.section .text
.thumb
.align 4
_vector_14: .type func
mrs r0, psp
isb
;Get the location of the current TCB.
ldr.w 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}
ldr.w r0, =ulMaxSyscallInterruptPriorityConst
ldr r0, [r0]
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
bx r14
.size _vector_14, $-_vector_14
.endsec
;-----------------------------------------------------------
; This function is an XMC4000 silicon errata workaround. It will get used when
; the SILICON_BUG_PMC_CM_001 linker macro is defined.
.section .text
.thumb
.align 4
_lc_ref__vector_pp_14: .type func
mrs r0, psp
isb
;Get the location of the current TCB.
ldr.w 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}
ldr.w r0, =ulMaxSyscallInterruptPriorityConst
ldr r0, [r0]
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
push { lr }
pop { pc } ; XMC4000 specific errata workaround. Do not used "bx lr" here.
.size _lc_ref__vector_pp_14, $-_lc_ref__vector_pp_14
.endsec
;-----------------------------------------------------------
.section .text
.thumb
.align 4
SVC_Handler: .type func
;Get the location of the current TCB.
ldr.w 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
.size SVC_Handler, $-SVC_Handler
.endsec
;-----------------------------------------------------------
.section .text
.thumb
.align 4
vPortStartFirstTask .type func
;Use the NVIC offset register to locate the stack.
ldr.w 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
cpsie f
dsb
isb
svc 0
.size vPortStartFirstTask, $-vPortStartFirstTask
.endsec
;-----------------------------------------------------------
.section .text
.thumb
.align 4
vPortEnableVFP .type func
;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
.size vPortEnableVFP, $-vPortEnableVFP
.endsec
;-----------------------------------------------------------
.section .text
.thumb
.align 4
ulPortSetInterruptMask:
mrs r0, basepri
ldr.w r1, =ulMaxSyscallInterruptPriorityConst
ldr r1, [r1]
msr basepri, r1
bx r14
.size ulPortSetInterruptMask, $-ulPortSetInterruptMask
.endsec
;-----------------------------------------------------------
.section .text
.thumb
.align 4
vPortClearInterruptMask:
msr basepri, r0
bx r14
.size vPortClearInterruptMask, $-vPortClearInterruptMask
.endsec
;-----------------------------------------------------------
.end
|
