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- /*
- * FreeRTOS Kernel V10.0.0
- * Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software. If you wish to use our Amazon
- * FreeRTOS name, please do so in a fair use way that does not cause confusion.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
- /*-----------------------------------------------------------
- * Implementation of functions defined in portable.h for the ARM CM4F port.
- *----------------------------------------------------------*/
- /* Scheduler includes. */
- #include "FreeRTOS.h"
- #include "task.h"
- /*
- * Start first task is a separate function so it can be tested in isolation.
- */
- __stackless void vPortStartFirstTask( void );
- /*
- * Exception handlers.
- */
- __stackless void vPortSVCHandler( void );
- __stackless void xPortPendSVHandler( void );
- extern uint32_t __Vectors;
- extern uint32_t pxCurrentTCB;
- /*-----------------------------------------------------------*/
- __stackless void vPortStartFirstTask( void )
- {
- __asm volatile(
- " ldr.n r0, 1f \n" /* Locate the stack using __Vectors table. */
- " ldr r0, [r0] \n"
- " msr msp, r0 \n" /* Set the msp back to the start of the stack. */
- " cpsie i \n" /* Globally enable interrupts. */
- " cpsie f \n"
- " dsb \n"
- " isb \n"
- #ifdef SOFTDEVICE_PRESENT
- /* Block kernel interrupts only (PendSV) before calling SVC */
- " mov r0, %1 \n"
- " msr basepri, r0 \n"
- #endif
- " svc 0 \n" /* System call to start first task. */
- " \n"
- " nop \n" /* Manual alignment of the label below */
- "DATA \n"
- "1: \n"
- " DC32 %c0 \n"
- : /* Outputs */
- : /* Inputs */
- "i"(&__Vectors)
- #ifdef SOFTDEVICE_PRESENT
- ,
- "i"(configKERNEL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
- #endif
- );
- }
- /*-----------------------------------------------------------*/
- __stackless void vPortSVCHandler( void )
- {
- __asm volatile (
- " ldr.n r3, 1f \n" /* Restore the context. */
- " ldr r1, [r3] \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
- " ldr r0, [r1] \n" /* The first item in pxCurrentTCB is the task top of stack. */
- " ldmia r0!, {r4-r11, r14} \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
- " msr psp, r0 \n" /* Restore the task stack pointer. */
- " isb \n"
- " mov r0, #0 \n"
- " msr basepri, r0 \n"
- " bx r14 \n"
- " \n"
- " \n" /* Manual alignment of the label below */
- "DATA \n"
- "1: \n"
- " DC32 %c0 \n"
- : /* Outputs */
- : /* Inputs */
- "i"(&pxCurrentTCB)
- );
- }
- /*-----------------------------------------------------------*/
- __stackless void xPortPendSVHandler( void )
- {
- /* This is a naked function. */
- __asm volatile
- (
- " mrs r0, psp \n"
- " isb \n"
- " \n"
- " ldr.n r3, 1f \n" /* Get the location of the current TCB. */
- " ldr r2, [r3] \n"
- " \n"
- " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, push high vfp registers. */
- " it eq \n"
- " vstmdbeq r0!, {s16-s31} \n"
- " \n"
- " stmdb r0!, {r4-r11, r14} \n" /* Save the core registers. */
- " \n"
- " str r0, [r2] \n" /* Save the new top of stack into the first member of the TCB. */
- " \n"
- " stmdb sp!, {r3} \n"
- " mov r0, %0 \n"
- " msr basepri, r0 \n"
- " dsb \n"
- " isb \n"
- " bl %c2 \n"
- " mov r0, #0 \n"
- " msr basepri, r0 \n"
- " ldmia sp!, {r3} \n"
- " \n"
- " ldr r1, [r3] \n" /* The first item in pxCurrentTCB is the task top of stack. */
- " ldr r0, [r1] \n"
- " \n"
- " ldmia r0!, {r4-r11, r14} \n" /* Pop the core registers. */
- " \n"
- " tst r14, #0x10 \n" /* Is the task using the FPU context? If so, pop the high vfp registers too. */
- " it eq \n"
- " vldmiaeq r0!, {s16-s31} \n"
- " \n"
- " msr psp, r0 \n"
- " isb \n"
- " \n"
- " \n"
- " bx r14 \n"
- " \n"
- " \n" /* Manual alignment of the label below */
- "DATA \n"
- "1: \n"
- " DC32 %c1 \n"
- : /* Outputs */
- : /* Inputs */
- "i"(configMAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS)),
- "i"(&pxCurrentTCB),
- "i"(&vTaskSwitchContext)
- );
- }
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