292 lines
8.6 KiB
C
292 lines
8.6 KiB
C
/*----------------------------------------------------------------------------
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* CMSIS-RTOS - RTX
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*----------------------------------------------------------------------------
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* Name: HAL_CM0.C
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* Purpose: Hardware Abstraction Layer for Cortex-M0
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* Rev.: V4.70
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*----------------------------------------------------------------------------
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*
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* Copyright (c) 1999-2009 KEIL, 2009-2017 ARM Germany GmbH. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*---------------------------------------------------------------------------*/
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#include "rt_TypeDef.h"
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#include "RTX_Config.h"
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#include "rt_System.h"
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#include "rt_HAL_CM.h"
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#include "rt_Task.h"
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#include "rt_MemBox.h"
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/*----------------------------------------------------------------------------
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* Functions
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*---------------------------------------------------------------------------*/
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/*--------------------------- rt_set_PSP ------------------------------------*/
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__asm void rt_set_PSP (U32 stack) {
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MSR PSP,R0
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BX LR
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}
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/*--------------------------- rt_get_PSP ------------------------------------*/
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__asm U32 rt_get_PSP (void) {
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MRS R0,PSP
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BX LR
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}
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/*--------------------------- os_set_env ------------------------------------*/
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__asm void os_set_env (void) {
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/* Switch to Unprivileged/Privileged Thread mode, use PSP. */
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MOV R0,SP ; PSP = MSP
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MSR PSP,R0
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LDR R0,=__cpp(&os_flags)
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LDRB R0,[R0]
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LSLS R0,#31
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BNE PrivilegedE
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MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP
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MSR CONTROL,R0
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BX LR
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PrivilegedE
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MOVS R0,#0x02 ; Privileged Thread mode, use PSP
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MSR CONTROL,R0
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BX LR
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ALIGN
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}
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/*--------------------------- _alloc_box ------------------------------------*/
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__asm void *_alloc_box (void *box_mem) {
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/* Function wrapper for Unprivileged/Privileged mode. */
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LDR R3,=__cpp(rt_alloc_box)
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MOV R12,R3
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MRS R3,IPSR
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LSLS R3,#24
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BNE PrivilegedA
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MRS R3,CONTROL
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LSLS R3,#31
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BEQ PrivilegedA
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SVC 0
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BX LR
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PrivilegedA
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BX R12
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ALIGN
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}
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/*--------------------------- _free_box -------------------------------------*/
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__asm U32 _free_box (void *box_mem, void *box) {
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/* Function wrapper for Unprivileged/Privileged mode. */
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LDR R3,=__cpp(rt_free_box)
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MOV R12,R3
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MRS R3,IPSR
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LSLS R3,#24
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BNE PrivilegedF
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MRS R3,CONTROL
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LSLS R3,#31
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BEQ PrivilegedF
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SVC 0
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BX LR
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PrivilegedF
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BX R12
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ALIGN
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}
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/*-------------------------- SVC_Handler ------------------------------------*/
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__asm void SVC_Handler (void) {
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PRESERVE8
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IMPORT SVC_Count
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IMPORT SVC_Table
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IMPORT rt_stk_check
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MRS R0,PSP ; Read PSP
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LDR R1,[R0,#24] ; Read Saved PC from Stack
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SUBS R1,R1,#2 ; Point to SVC Instruction
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LDRB R1,[R1] ; Load SVC Number
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CMP R1,#0
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BNE SVC_User ; User SVC Number > 0
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MOV LR,R4
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LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
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MOV R12,R4
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MOV R4,LR
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BLX R12 ; Call SVC Function
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MRS R3,PSP ; Read PSP
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STMIA R3!,{R0-R2} ; Store return values
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LDR R3,=__cpp(&os_tsk)
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LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.next
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CMP R1,R2
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BEQ SVC_Exit ; no task switch
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SUBS R3,#8
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CMP R1,#0 ; Runtask deleted?
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BEQ SVC_Next
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MRS R0,PSP ; Read PSP
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SUBS R0,R0,#32 ; Adjust Start Address
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STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
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STMIA R0!,{R4-R7} ; Save old context (R4-R7)
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MOV R4,R8
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MOV R5,R9
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MOV R6,R10
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MOV R7,R11
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STMIA R0!,{R4-R7} ; Save old context (R8-R11)
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PUSH {R2,R3}
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BL rt_stk_check ; Check for Stack overflow
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POP {R2,R3}
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SVC_Next
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STR R2,[R3] ; os_tsk.run = os_tsk.next
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LDR R0,[R2,#TCB_TSTACK] ; os_tsk.next->tsk_stack
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ADDS R0,R0,#16 ; Adjust Start Address
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LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
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MOV R8,R4
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MOV R9,R5
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MOV R10,R6
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MOV R11,R7
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MSR PSP,R0 ; Write PSP
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SUBS R0,R0,#32 ; Adjust Start Address
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LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
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SVC_Exit
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MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
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MVNS R0,R0
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BX R0 ; RETI to Thread Mode, use PSP
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/*------------------- User SVC ------------------------------*/
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SVC_User
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PUSH {R4,LR} ; Save Registers
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LDR R2,=SVC_Count
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LDR R2,[R2]
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CMP R1,R2
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BHI SVC_Done ; Overflow
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LDR R4,=SVC_Table-4
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LSLS R1,R1,#2
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LDR R4,[R4,R1] ; Load SVC Function Address
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MOV LR,R4
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LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
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MOV R12,R4
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BLX LR ; Call SVC Function
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MRS R4,PSP ; Read PSP
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STMIA R4!,{R0-R3} ; Function return values
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SVC_Done
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POP {R4,PC} ; RETI
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ALIGN
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}
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/*-------------------------- PendSV_Handler ---------------------------------*/
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__asm void PendSV_Handler (void) {
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PRESERVE8
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BL __cpp(rt_pop_req)
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Sys_Switch
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LDR R3,=__cpp(&os_tsk)
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LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.next
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CMP R1,R2
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BEQ Sys_Exit ; no task switch
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SUBS R3,#8
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MRS R0,PSP ; Read PSP
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SUBS R0,R0,#32 ; Adjust Start Address
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STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
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STMIA R0!,{R4-R7} ; Save old context (R4-R7)
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MOV R4,R8
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MOV R5,R9
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MOV R6,R10
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MOV R7,R11
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STMIA R0!,{R4-R7} ; Save old context (R8-R11)
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PUSH {R2,R3}
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BL rt_stk_check ; Check for Stack overflow
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POP {R2,R3}
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STR R2,[R3] ; os_tsk.run = os_tsk.next
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LDR R0,[R2,#TCB_TSTACK] ; os_tsk.next->tsk_stack
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ADDS R0,R0,#16 ; Adjust Start Address
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LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
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MOV R8,R4
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MOV R9,R5
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MOV R10,R6
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MOV R11,R7
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MSR PSP,R0 ; Write PSP
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SUBS R0,R0,#32 ; Adjust Start Address
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LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
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Sys_Exit
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MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
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MVNS R0,R0
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BX R0 ; RETI to Thread Mode, use PSP
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ALIGN
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}
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/*-------------------------- SysTick_Handler --------------------------------*/
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__asm void SysTick_Handler (void) {
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PRESERVE8
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BL __cpp(rt_systick)
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B Sys_Switch
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ALIGN
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}
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/*-------------------------- OS_Tick_Handler --------------------------------*/
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__asm void OS_Tick_Handler (void) {
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PRESERVE8
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BL __cpp(os_tick_irqack)
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BL __cpp(rt_systick)
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B Sys_Switch
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ALIGN
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}
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/*----------------------------------------------------------------------------
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* end of file
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*---------------------------------------------------------------------------*/
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