Updates to support FreeRTOS MPU in FreeRTOS V9.0.0 - including a GCC project that runs in the Keil simulator to allow development and testing.
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/*
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FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
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All rights reserved
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VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
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***************************************************************************
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>>! NOTE: The modification to the GPL is included to allow you to !<<
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>>! distribute a combined work that includes FreeRTOS without being !<<
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>>! obliged to provide the source code for proprietary components !<<
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>>! outside of the FreeRTOS kernel. !<<
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***************************************************************************
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. Full license text is available on the following
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link: http://www.freertos.org/a00114.html
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***************************************************************************
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* *
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* FreeRTOS provides completely free yet professionally developed, *
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* robust, strictly quality controlled, supported, and cross *
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* platform software that is more than just the market leader, it *
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* is the industry's de facto standard. *
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* *
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* Help yourself get started quickly while simultaneously helping *
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* to support the FreeRTOS project by purchasing a FreeRTOS *
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* tutorial book, reference manual, or both: *
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* http://www.FreeRTOS.org/Documentation *
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* *
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***************************************************************************
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http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
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the FAQ page "My application does not run, what could be wrong?". Have you
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defined configASSERT()?
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http://www.FreeRTOS.org/support - In return for receiving this top quality
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embedded software for free we request you assist our global community by
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participating in the support forum.
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http://www.FreeRTOS.org/training - Investing in training allows your team to
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be as productive as possible as early as possible. Now you can receive
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FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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Ltd, and the world's leading authority on the world's leading RTOS.
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http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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compatible FAT file system, and our tiny thread aware UDP/IP stack.
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http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
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Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
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http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
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licenses offer ticketed support, indemnification and commercial middleware.
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http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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engineered and independently SIL3 certified version for use in safety and
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mission critical applications that require provable dependability.
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1 tab == 4 spaces!
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*/
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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#define configUSE_PREEMPTION 1
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#define configTICK_RATE_HZ ( 1000 )
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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#define configUSE_QUEUE_SETS 0
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#define configUSE_IDLE_HOOK 1
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#define configUSE_TICK_HOOK 1
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#define configCPU_CLOCK_HZ 48000000
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#define configMAX_PRIORITIES ( 5 )
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#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 120 )
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#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16 * 1024 ) )
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#define configMAX_TASK_NAME_LEN ( 10 )
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_MUTEXES 0
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#define configQUEUE_REGISTRY_SIZE 0
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_RECURSIVE_MUTEXES 0
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configUSE_APPLICATION_TASK_TAG 0
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#define configUSE_COUNTING_SEMAPHORES 0
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#define configSUPPORT_STATIC_ALLOCATION 0
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#define configUSE_TICKLESS_IDLE 0
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/* Run time stats gathering definitions. */
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#define configGENERATE_RUN_TIME_STATS 0
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
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#define portGET_RUN_TIME_COUNTER_VALUE()
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/* This demo makes use of one or more example stats formatting functions. These
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format the raw data provided by the uxTaskGetSystemState() function in to human
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readable ASCII form. See the notes in the implementation of vTaskList() within
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FreeRTOS/Source/tasks.c for limitations. */
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#define configUSE_STATS_FORMATTING_FUNCTIONS 0
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/* Co-routine definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* Software timer definitions. */
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#define configUSE_TIMERS 0
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#define configTIMER_TASK_PRIORITY ( 2 )
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#define configTIMER_QUEUE_LENGTH 5
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#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE )
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 1
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_eTaskGetState 1
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#define INCLUDE_xTimerPendFunctionCall 0
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/* Cortex-M specific definitions. */
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#ifdef __NVIC_PRIO_BITS
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/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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#define configPRIO_BITS __NVIC_PRIO_BITS
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#else
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#define configPRIO_BITS 3 /* 7 priority levels */
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#endif
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/* The lowest interrupt priority that can be used in a call to a "set priority"
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function. */
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#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7
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/* The highest interrupt priority that can be used by any interrupt service
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routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
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INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
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PRIORITY THAN THIS! (higher priorities are lower numeric values. */
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#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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/* Interrupt priorities used by the kernel port layer itself. These are generic
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to all Cortex-M ports, and do not rely on any particular library functions. */
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#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
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/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
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See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
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/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
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standard names. */
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#define xPortPendSVHandler PendSV_Handler
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#define vPortSVCHandler SVC_Handler
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#define xPortSysTickHandler SysTick_Handler
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/* Normal assert() semantics without relying on the provision of an assert.h
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header file. */
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#define configASSERT( x ) if( ( x ) == 0UL ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
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/* LED not used at present, so just increment a variable to keep a count of the
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number of times the LED would otherwise have been toggled. */
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#define configTOGGLE_LED() ulLED++
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#ifdef __cplusplus
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}
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#endif
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#endif /* FREERTOS_CONFIG_H */
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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<ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
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<SchemaVersion>1.0</SchemaVersion>
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<Header>### uVision Project, (C) Keil Software</Header>
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<Extensions>
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<cExt>*.c;*.S</cExt>
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<aExt></aExt>
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<oExt>*.obj</oExt>
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<lExt>*.lib</lExt>
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<tExt>*.txt; *.h; *.inc</tExt>
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<pExt>*.plm</pExt>
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<CppX>*.cpp</CppX>
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<nMigrate>0</nMigrate>
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</Extensions>
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<DaveTm>
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<dwLowDateTime>0</dwLowDateTime>
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<dwHighDateTime>0</dwHighDateTime>
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</DaveTm>
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<Target>
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<TargetName>RTOSDemo_GCC_MPU</TargetName>
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<ToolsetNumber>0x3</ToolsetNumber>
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<ToolsetName>ARM-GNU</ToolsetName>
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<TargetOption>
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<CLKARM>12000000</CLKARM>
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<OPTTT>
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<gFlags>1</gFlags>
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<BeepAtEnd>1</BeepAtEnd>
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<RunSim>0</RunSim>
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<RunTarget>1</RunTarget>
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<RunAbUc>0</RunAbUc>
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</OPTTT>
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<OPTHX>
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<HexSelection>1</HexSelection>
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<FlashByte>65535</FlashByte>
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<HexRangeLowAddress>0</HexRangeLowAddress>
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<HexRangeHighAddress>0</HexRangeHighAddress>
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<HexOffset>0</HexOffset>
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</OPTHX>
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<OPTLEX>
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<PageWidth>120</PageWidth>
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<PageLength>65</PageLength>
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<TabStop>8</TabStop>
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<ListingPath>.\Listings\</ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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<CreateAListing>1</CreateAListing>
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<CreateLListing>1</CreateLListing>
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<CreateIListing>0</CreateIListing>
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<AsmCond>1</AsmCond>
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<AsmSymb>1</AsmSymb>
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<AsmXref>0</AsmXref>
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<CCond>1</CCond>
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<CCode>0</CCode>
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<CListInc>0</CListInc>
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<CSymb>0</CSymb>
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<LinkerCodeListing>0</LinkerCodeListing>
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</ListingPage>
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<OPTXL>
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<LMap>1</LMap>
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<LComments>1</LComments>
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<LGenerateSymbols>1</LGenerateSymbols>
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<LLibSym>1</LLibSym>
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<LLines>1</LLines>
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<LLocSym>1</LLocSym>
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<LPubSym>1</LPubSym>
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<LXref>0</LXref>
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<LExpSel>0</LExpSel>
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</OPTXL>
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<OPTFL>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<IsCurrentTarget>1</IsCurrentTarget>
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</OPTFL>
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<CpuCode>7</CpuCode>
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<DebugOpt>
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<uSim>1</uSim>
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<uTrg>0</uTrg>
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<sLdApp>1</sLdApp>
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<sGomain>1</sGomain>
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<sRbreak>1</sRbreak>
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<sRwatch>1</sRwatch>
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<sRmem>1</sRmem>
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<sRfunc>1</sRfunc>
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<sRbox>1</sRbox>
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<tLdApp>1</tLdApp>
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<tGomain>1</tGomain>
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<tRbreak>1</tRbreak>
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<tRwatch>1</tRwatch>
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<tRmem>1</tRmem>
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<tRfunc>0</tRfunc>
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<tRbox>1</tRbox>
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<tRtrace>1</tRtrace>
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<sRSysVw>1</sRSysVw>
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<tRSysVw>1</tRSysVw>
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<sRunDeb>0</sRunDeb>
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<sLrtime>0</sLrtime>
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<nTsel>0</nTsel>
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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<sDlgPa></sDlgPa>
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<sIfile></sIfile>
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<tDll></tDll>
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<tDllPa></tDllPa>
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>BIN\UL2CM3.DLL</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGDARM</Key>
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<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=1234,201,1699,501,0)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>ARMRTXEVENTFLAGS</Key>
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<Name>-L70 -Z18 -C0 -M0 -T1</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGTARM</Key>
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<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=120,149,354,683,0)(1012=-1,-1,-1,-1,0)</Name>
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</SetRegEntry>
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||||
<SetRegEntry>
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||||
<Number>0</Number>
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||||
<Key>ARMDBGFLAGS</Key>
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||||
<Name>-T0</Name>
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||||
</SetRegEntry>
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||||
<SetRegEntry>
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||||
<Number>0</Number>
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||||
<Key>DLGUARM</Key>
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||||
<Name>(105=-1,-1,-1,-1,0)</Name>
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||||
</SetRegEntry>
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||||
<SetRegEntry>
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||||
<Number>0</Number>
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||||
<Key>UL2CM3</Key>
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||||
<Name>-UV1115SAE -O2983 -S0 -C0 -P00 -N00("ARM CoreSight JTAG-DP") -D00(4BA00477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FN1 -FC1000 -FD20000000 -FF0NEW_DEVICE -FL080000 -FS00 -FP0($$Device:ARMCM4_FP$Device\ARM\Flash\NEW_DEVICE.FLM)</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint>
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>3619</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>8634</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>C:\E\Dev\FreeRTOS\WorkingCopy\FreeRTOS\Source\tasks.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\RTOSDemo\../../../Source/tasks.c\3619</Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>xTickCount</ItemText>
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</Ww>
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</WatchWindow1>
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<MemoryWindow1>
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<Mm>
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<WinNumber>1</WinNumber>
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<SubType>2</SubType>
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<ItemText>0x100000</ItemText>
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<AccSizeX>4</AccSizeX>
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</Mm>
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</MemoryWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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</Tracepoint>
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<DebugFlag>
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<trace>0</trace>
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<periodic>1</periodic>
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<aLwin>0</aLwin>
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<aCover>0</aCover>
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<aSer1>0</aSer1>
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<aSer2>0</aSer2>
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<aPa>0</aPa>
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<viewmode>1</viewmode>
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<vrSel>0</vrSel>
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<aSym>0</aSym>
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<aTbox>0</aTbox>
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<AscS1>0</AscS1>
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<AscS2>0</AscS2>
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<AscS3>0</AscS3>
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||||
<aSer3>0</aSer3>
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||||
<eProf>0</eProf>
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||||
<aLa>0</aLa>
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||||
<aPa1>0</aPa1>
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||||
<AscS4>0</AscS4>
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||||
<aSer4>0</aSer4>
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||||
<StkLoc>0</StkLoc>
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<TrcWin>0</TrcWin>
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||||
<newCpu>0</newCpu>
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<uProt>0</uProt>
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||||
</DebugFlag>
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||||
<LintExecutable></LintExecutable>
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<LintConfigFile></LintConfigFile>
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||||
<bLintAuto>0</bLintAuto>
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||||
<Lin2Executable></Lin2Executable>
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||||
<Lin2ConfigFile></Lin2ConfigFile>
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||||
<bLin2Auto>0</bLin2Auto>
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||||
<DebugDescription>
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||||
<Enable>1</Enable>
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||||
<EnableLog>0</EnableLog>
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||||
<Protocol>2</Protocol>
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||||
<DbgClock>10000000</DbgClock>
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||||
</DebugDescription>
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||||
</TargetOption>
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||||
</Target>
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||||
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||||
<Group>
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||||
<GroupName>System</GroupName>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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<File>
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</ProjectOpt>
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@ -0,0 +1,343 @@
|
||||
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|
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|
||||
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|
||||
|
||||
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|
||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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<SLE66AMisc></SLE66AMisc>
|
||||
<SLE66LinkerMisc></SLE66LinkerMisc>
|
||||
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<asHll>1</asHll>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<hadIRAM2>0</hadIRAM2>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<IRAM2>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<IROM2>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</OnChipMemories>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<MiscControls>-mfloat-abi=softfp -mfpu=fpv4-sp-d16 -ffunction-sections -fdata-sections -O0 -g</MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>..;..\..\..\Source\include;..\..\..\Source\portable\GCC\ARM_CM3_MPU;..\..\Common\include;..\peripheral_library;..\CMSIS;..\main_full;..\peripheral_library\interrupt</IncludePath>
|
||||
</VariousControls>
|
||||
</Carm>
|
||||
<Aarm>
|
||||
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|
||||
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|
||||
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|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aarm>
|
||||
<LDarm>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<TextAddressRange></TextAddressRange>
|
||||
<DataAddressRange></DataAddressRange>
|
||||
<BSSAddressRange></BSSAddressRange>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeDir></IncludeDir>
|
||||
<Misc>-Xlinker --gc-sections</Misc>
|
||||
<ScatterFile>.\sections.ld</ScatterFile>
|
||||
</LDarm>
|
||||
</TargetArm>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>System</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_ARMCM4.S</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>.\startup_ARMCM4.S</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>main_and_config</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>FreeRTOSConfig.h</FileName>
|
||||
<FileType>5</FileType>
|
||||
<FilePath>..\FreeRTOSConfig.h</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>FreeRTOS_Source</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>event_groups.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\event_groups.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>list.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\list.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>queue.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\queue.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>tasks.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\tasks.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>timers.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\timers.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>heap_4.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\portable\MemMang\heap_4.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>port.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\..\..\Source\portable\GCC\ARM_CM3_MPU\port.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
</Targets>
|
||||
|
||||
</Project>
|
@ -0,0 +1,457 @@
|
||||
/*
|
||||
FreeRTOS V8.2.3 - Copyright (C) 2015 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!
|
||||
*/
|
||||
|
||||
/*
|
||||
* "Reg test" tasks - These fill the registers with known values, then check
|
||||
* that each register maintains its expected value for the lifetime of the
|
||||
* task. Each task uses a different set of values. The reg test tasks execute
|
||||
* with a very low priority, so get preempted very frequently. A register
|
||||
* containing an unexpected value is indicative of an error in the context
|
||||
* switching mechanism.
|
||||
*/
|
||||
|
||||
void vRegTest1Implementation( void ) __attribute__ ((naked));
|
||||
void vRegTest2Implementation( void ) __attribute__ ((naked));
|
||||
|
||||
void vRegTest1Implementation( void )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
".extern ulRegTest1LoopCounter \n"
|
||||
"/* Fill the core registers with known values. */ \n"
|
||||
"mov r0, #100 \n"
|
||||
"mov r1, #101 \n"
|
||||
"mov r2, #102 \n"
|
||||
"mov r3, #103 \n"
|
||||
"mov r4, #104 \n"
|
||||
"mov r5, #105 \n"
|
||||
"mov r6, #106 \n"
|
||||
"mov r7, #107 \n"
|
||||
"mov r8, #108 \n"
|
||||
"mov r9, #109 \n"
|
||||
"mov r10, #110 \n"
|
||||
"mov r11, #111 \n"
|
||||
"mov r12, #112 \n"
|
||||
|
||||
"/* Fill the VFP registers with known values. */ \n"
|
||||
"vmov d0, r0, r1 \n"
|
||||
"vmov d1, r2, r3 \n"
|
||||
"vmov d2, r4, r5 \n"
|
||||
"vmov d3, r6, r7 \n"
|
||||
"vmov d4, r8, r9 \n"
|
||||
"vmov d5, r10, r11 \n"
|
||||
"vmov d6, r0, r1 \n"
|
||||
"vmov d7, r2, r3 \n"
|
||||
"vmov d8, r4, r5 \n"
|
||||
"vmov d9, r6, r7 \n"
|
||||
"vmov d10, r8, r9 \n"
|
||||
"vmov d11, r10, r11 \n"
|
||||
"vmov d12, r0, r1 \n"
|
||||
"vmov d13, r2, r3 \n"
|
||||
"vmov d14, r4, r5 \n"
|
||||
"vmov d15, r6, r7 \n"
|
||||
|
||||
"reg1_loop: \n"
|
||||
"/* Check all the VFP registers still contain the values set above. \n"
|
||||
"First save registers that are clobbered by the test. */ \n"
|
||||
"push { r0-r1 } \n"
|
||||
|
||||
"vmov r0, r1, d0 \n"
|
||||
"cmp r0, #100 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #101 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d1 \n"
|
||||
"cmp r0, #102 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #103 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d2 \n"
|
||||
"cmp r0, #104 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #105 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d3 \n"
|
||||
"cmp r0, #106 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #107 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d4 \n"
|
||||
"cmp r0, #108 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #109 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d5 \n"
|
||||
"cmp r0, #110 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #111 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d6 \n"
|
||||
"cmp r0, #100 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #101 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d7 \n"
|
||||
"cmp r0, #102 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #103 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d8 \n"
|
||||
"cmp r0, #104 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #105 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d9 \n"
|
||||
"cmp r0, #106 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #107 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d10 \n"
|
||||
"cmp r0, #108 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #109 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d11 \n"
|
||||
"cmp r0, #110 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #111 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d12 \n"
|
||||
"cmp r0, #100 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #101 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d13 \n"
|
||||
"cmp r0, #102 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #103 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d14 \n"
|
||||
"cmp r0, #104 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #105 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"vmov r0, r1, d15 \n"
|
||||
"cmp r0, #106 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
"cmp r1, #107 \n"
|
||||
"bne reg1_error_loopf \n"
|
||||
|
||||
"/* Restore the registers that were clobbered by the test. */ \n"
|
||||
"pop {r0-r1} \n"
|
||||
|
||||
"/* VFP register test passed. Jump to the core register test. */ \n"
|
||||
"b reg1_loopf_pass \n"
|
||||
|
||||
"reg1_error_loopf: \n"
|
||||
"/* If this line is hit then a VFP register value was found to be incorrect. */ \n"
|
||||
"b reg1_error_loopf \n"
|
||||
|
||||
"reg1_loopf_pass: \n"
|
||||
|
||||
"cmp r0, #100 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r1, #101 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r2, #102 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r3, #103 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r4, #104 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r5, #105 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r6, #106 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r7, #107 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r8, #108 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r9, #109 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r10, #110 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r11, #111 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
"cmp r12, #112 \n"
|
||||
"bne reg1_error_loop \n"
|
||||
|
||||
"/* Everything passed, increment the loop counter. */ \n"
|
||||
"push { r0-r1 } \n"
|
||||
"ldr r0, =ulRegTest1LoopCounter \n"
|
||||
"ldr r1, [r0] \n"
|
||||
"adds r1, r1, #1 \n"
|
||||
"str r1, [r0] \n"
|
||||
"pop { r0-r1 } \n"
|
||||
|
||||
"/* Start again. */ \n"
|
||||
"b reg1_loop \n"
|
||||
|
||||
"reg1_error_loop: \n"
|
||||
"/* If this line is hit then there was an error in a core register value. \n"
|
||||
"The loop ensures the loop counter stops incrementing. */ \n"
|
||||
"b reg1_error_loop \n"
|
||||
"nop "
|
||||
); /* __asm volatile. */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vRegTest2Implementation( void )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
".extern ulRegTest2LoopCounter \n"
|
||||
"/* Set all the core registers to known values. */ \n"
|
||||
"mov r0, #-1 \n"
|
||||
"mov r1, #1 \n"
|
||||
"mov r2, #2 \n"
|
||||
"mov r3, #3 \n"
|
||||
"mov r4, #4 \n"
|
||||
"mov r5, #5 \n"
|
||||
"mov r6, #6 \n"
|
||||
"mov r7, #7 \n"
|
||||
"mov r8, #8 \n"
|
||||
"mov r9, #9 \n"
|
||||
"mov r10, #10 \n"
|
||||
"mov r11, #11 \n"
|
||||
"mov r12, #12 \n"
|
||||
|
||||
"/* Set all the VFP to known values. */ \n"
|
||||
"vmov d0, r0, r1 \n"
|
||||
"vmov d1, r2, r3 \n"
|
||||
"vmov d2, r4, r5 \n"
|
||||
"vmov d3, r6, r7 \n"
|
||||
"vmov d4, r8, r9 \n"
|
||||
"vmov d5, r10, r11 \n"
|
||||
"vmov d6, r0, r1 \n"
|
||||
"vmov d7, r2, r3 \n"
|
||||
"vmov d8, r4, r5 \n"
|
||||
"vmov d9, r6, r7 \n"
|
||||
"vmov d10, r8, r9 \n"
|
||||
"vmov d11, r10, r11 \n"
|
||||
"vmov d12, r0, r1 \n"
|
||||
"vmov d13, r2, r3 \n"
|
||||
"vmov d14, r4, r5 \n"
|
||||
"vmov d15, r6, r7 \n"
|
||||
|
||||
"reg2_loop: \n"
|
||||
|
||||
"/* Check all the VFP registers still contain the values set above. \n"
|
||||
"First save registers that are clobbered by the test. */ \n"
|
||||
"push { r0-r1 } \n"
|
||||
|
||||
"vmov r0, r1, d0 \n"
|
||||
"cmp r0, #-1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d1 \n"
|
||||
"cmp r0, #2 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #3 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d2 \n"
|
||||
"cmp r0, #4 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #5 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d3 \n"
|
||||
"cmp r0, #6 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #7 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d4 \n"
|
||||
"cmp r0, #8 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #9 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d5 \n"
|
||||
"cmp r0, #10 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #11 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d6 \n"
|
||||
"cmp r0, #-1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d7 \n"
|
||||
"cmp r0, #2 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #3 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d8 \n"
|
||||
"cmp r0, #4 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #5 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d9 \n"
|
||||
"cmp r0, #6 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #7 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d10 \n"
|
||||
"cmp r0, #8 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #9 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d11 \n"
|
||||
"cmp r0, #10 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #11 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d12 \n"
|
||||
"cmp r0, #-1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #1 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d13 \n"
|
||||
"cmp r0, #2 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #3 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d14 \n"
|
||||
"cmp r0, #4 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #5 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"vmov r0, r1, d15 \n"
|
||||
"cmp r0, #6 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
"cmp r1, #7 \n"
|
||||
"bne reg2_error_loopf \n"
|
||||
|
||||
"/* Restore the registers that were clobbered by the test. */ \n"
|
||||
"pop {r0-r1} \n"
|
||||
|
||||
"/* VFP register test passed. Jump to the core register test. */ \n"
|
||||
"b reg2_loopf_pass \n"
|
||||
|
||||
"reg2_error_loopf: \n"
|
||||
"/* If this line is hit then a VFP register value was found to be \n"
|
||||
"incorrect. */ \n"
|
||||
"b reg2_error_loopf \n"
|
||||
|
||||
"reg2_loopf_pass: \n"
|
||||
|
||||
"cmp r0, #-1 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r1, #1 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r2, #2 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r3, #3 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r4, #4 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r5, #5 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r6, #6 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r7, #7 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r8, #8 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r9, #9 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r10, #10 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r11, #11 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
"cmp r12, #12 \n"
|
||||
"bne reg2_error_loop \n"
|
||||
|
||||
"/* Increment the loop counter to indicate this test is still functioning \n"
|
||||
"correctly. */ \n"
|
||||
"push { r0-r1 } \n"
|
||||
"ldr r0, =ulRegTest2LoopCounter \n"
|
||||
"ldr r1, [r0] \n"
|
||||
"adds r1, r1, #1 \n"
|
||||
"str r1, [r0] \n"
|
||||
|
||||
"/* Yield to increase test coverage. */ \n"
|
||||
"movs r0, #0x01 \n"
|
||||
"ldr r1, =0xe000ed04 /*NVIC_INT_CTRL */ \n"
|
||||
"lsl r0, r0, #28 /* Shift to PendSV bit */ \n"
|
||||
"str r0, [r1] \n"
|
||||
"dsb \n"
|
||||
|
||||
"pop { r0-r1 } \n"
|
||||
|
||||
"/* Start again. */ \n"
|
||||
"b reg2_loop \n"
|
||||
|
||||
"reg2_error_loop: \n"
|
||||
"/* If this line is hit then there was an error in a core register value. \n"
|
||||
"This loop ensures the loop counter variable stops incrementing. */ \n"
|
||||
"b reg2_error_loop \n"
|
||||
); /* __asm volatile */
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
@ -0,0 +1,449 @@
|
||||
/* Default memory layout. */
|
||||
MEMORY
|
||||
{
|
||||
ROM (rx) : ORIGIN = 0x00, LENGTH = 0x80000
|
||||
RAM (rw) : ORIGIN = 0x20000000, LENGTH = 0x8000
|
||||
}
|
||||
|
||||
/* Variables required by FreeRTOS MPU. */
|
||||
_Privileged_Functions_Region_Size = 16K;
|
||||
_Privileged_Data_Region_Size = 256;
|
||||
|
||||
__FLASH_segment_start__ = ORIGIN( ROM );
|
||||
__FLASH_segment_end__ = __FLASH_segment_start__ + LENGTH( ROM );
|
||||
|
||||
__privileged_functions_start__ = ORIGIN( ROM );
|
||||
__privileged_functions_end__ = __privileged_functions_start__ + _Privileged_Functions_Region_Size;
|
||||
|
||||
__SRAM_segment_start__ = ORIGIN( RAM );
|
||||
__SRAM_segment_end__ = __SRAM_segment_start__ + LENGTH( RAM );
|
||||
|
||||
__privileged_data_start__ = ORIGIN( RAM );
|
||||
__privileged_data_end__ = ORIGIN( RAM ) + _Privileged_Data_Region_Size;
|
||||
|
||||
/* Variables used by FreeRTOS-MPU. */
|
||||
_Privileged_Functions_Region_Size = 16K;
|
||||
_Privileged_Data_Region_Size = 256;
|
||||
|
||||
__FLASH_segment_start__ = ORIGIN( ROM );
|
||||
__FLASH_segment_end__ = __FLASH_segment_start__ + LENGTH( ROM );
|
||||
|
||||
__privileged_functions_start__ = ORIGIN( ROM );
|
||||
__privileged_functions_end__ = __privileged_functions_start__ + _Privileged_Functions_Region_Size;
|
||||
|
||||
__SRAM_segment_start__ = ORIGIN( RAM );
|
||||
__SRAM_segment_end__ = __SRAM_segment_start__ + LENGTH( RAM );
|
||||
|
||||
__privileged_data_start__ = ORIGIN( RAM );
|
||||
__privileged_data_end__ = ORIGIN( RAM ) + _Privileged_Data_Region_Size;
|
||||
|
||||
|
||||
/*
|
||||
* The '__stack' definition is required by crt0, do not remove it.
|
||||
*/
|
||||
/* Place top of stack immediate before ROM Log
|
||||
*__stack = ORIGIN(RAM) + LENGTH(RAM);
|
||||
*/
|
||||
__stack = ORIGIN(RAM) + LENGTH(RAM);
|
||||
|
||||
_estack = __stack;
|
||||
|
||||
/*
|
||||
* Default stack sizes.
|
||||
* These are used by the startup in order to allocate stacks
|
||||
* for the different modes.
|
||||
*/
|
||||
|
||||
__Main_Stack_Size = 2048 ;
|
||||
|
||||
PROVIDE ( _Main_Stack_Size = __Main_Stack_Size ) ;
|
||||
|
||||
__Main_Stack_Limit = __stack - __Main_Stack_Size ;
|
||||
|
||||
/*"PROVIDE" allows to easily override these values from an object file or the command line. */
|
||||
PROVIDE ( _Main_Stack_Limit = __Main_Stack_Limit ) ;
|
||||
|
||||
/*
|
||||
* There will be a link error if there is not this amount of
|
||||
* RAM free at the end.
|
||||
*/
|
||||
_Minimum_Stack_Size = 256 ;
|
||||
|
||||
/*
|
||||
* Default heap definitions.
|
||||
* The heap start immediately after the last statically allocated
|
||||
* .sbss/.noinit section, and extends up to the main stack limit.
|
||||
*/
|
||||
PROVIDE ( _Heap_Begin = _end_noinit ) ;
|
||||
PROVIDE ( _Heap_Limit = __stack - __Main_Stack_Size ) ;
|
||||
|
||||
/*
|
||||
* The entry point is informative, for debuggers and simulators,
|
||||
* since the Cortex-M vector points to it anyway.
|
||||
*/
|
||||
ENTRY(_start)
|
||||
|
||||
/* Sections Definitions */
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
/*
|
||||
* For Cortex-M devices, the beginning of the startup code is stored in
|
||||
* the .isr_vector section, which goes to ROM
|
||||
*/
|
||||
privileged_functions :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_isr_vector = .;
|
||||
KEEP(*(.isr_vector))
|
||||
*(privileged_functions)
|
||||
. = ALIGN(4);
|
||||
} > ROM
|
||||
|
||||
|
||||
|
||||
.text :
|
||||
{
|
||||
/* Non privileged code kept out of the first 16K or flash. */
|
||||
. = __privileged_functions_start__ + _Privileged_Functions_Region_Size;
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
|
||||
/*
|
||||
* This section is here for convenience, to store the
|
||||
* startup code at the beginning of the flash area, hoping that
|
||||
* this will increase the readability of the listing.
|
||||
*/
|
||||
KEEP(*(.after_vectors .after_vectors.*)) /* Startup code and ISR */
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
/*
|
||||
* These are the old initialisation sections, intended to contain
|
||||
* naked code, with the prologue/epilogue added by crti.o/crtn.o
|
||||
* when linking with startup files. The standalone startup code
|
||||
* currently does not run these, better use the init arrays below.
|
||||
*/
|
||||
KEEP(*(.init))
|
||||
KEEP(*(.fini))
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
/*
|
||||
* The preinit code, i.e. an array of pointers to initialisation
|
||||
* functions to be performed before constructors.
|
||||
*/
|
||||
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||
|
||||
/*
|
||||
* Used to run the SystemInit() before anything else.
|
||||
*/
|
||||
KEEP(*(.preinit_array_sysinit .preinit_array_sysinit.*))
|
||||
|
||||
/*
|
||||
* Used for other platform inits.
|
||||
*/
|
||||
KEEP(*(.preinit_array_platform .preinit_array_platform.*))
|
||||
|
||||
/*
|
||||
* The application inits. If you need to enforce some order in
|
||||
* execution, create new sections, as before.
|
||||
*/
|
||||
KEEP(*(.preinit_array .preinit_array.*))
|
||||
|
||||
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
/*
|
||||
* The init code, i.e. an array of pointers to static constructors.
|
||||
*/
|
||||
PROVIDE_HIDDEN (__init_array_start = .);
|
||||
KEEP(*(SORT(.init_array.*)))
|
||||
KEEP(*(.init_array))
|
||||
PROVIDE_HIDDEN (__init_array_end = .);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
/*
|
||||
* The fini code, i.e. an array of pointers to static destructors.
|
||||
*/
|
||||
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||
KEEP(*(SORT(.fini_array.*)))
|
||||
KEEP(*(.fini_array))
|
||||
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||
. = ALIGN(4);
|
||||
|
||||
. = ALIGN(4);
|
||||
|
||||
*(.text*) /* all remaining code */
|
||||
|
||||
*(vtable) /* C++ virtual tables */
|
||||
|
||||
} >ROM
|
||||
|
||||
.rodata :
|
||||
{
|
||||
*(.rodata*) /* read-only data (constants) */
|
||||
} >ROM
|
||||
|
||||
.glue :
|
||||
{
|
||||
KEEP(*(.eh_frame*))
|
||||
|
||||
/*
|
||||
* Stub sections generated by the linker, to glue together
|
||||
* ARM and Thumb code. .glue_7 is used for ARM code calling
|
||||
* Thumb code, and .glue_7t is used for Thumb code calling
|
||||
* ARM code. Apparently always generated by the linker, for some
|
||||
* architectures, so better leave them here.
|
||||
*/
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
} >ROM
|
||||
|
||||
/* ARM magic sections */
|
||||
.ARM.extab :
|
||||
{
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
} > ROM
|
||||
|
||||
__exidx_start = .;
|
||||
.ARM.exidx :
|
||||
{
|
||||
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
|
||||
} > ROM
|
||||
__exidx_end = .;
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .;
|
||||
__etext = .;
|
||||
|
||||
/*
|
||||
* This address is used by the startup code to
|
||||
* initialise the .data section.
|
||||
*/
|
||||
_sidata = _etext;
|
||||
|
||||
/* MEMORY_ARRAY */
|
||||
/*
|
||||
.ROarraySection :
|
||||
{
|
||||
*(.ROarraySection .ROarraySection.*)
|
||||
} >MEMORY_ARRAY
|
||||
*/
|
||||
|
||||
|
||||
privileged_data :
|
||||
{
|
||||
*(privileged_data)
|
||||
/* Non kernel data is kept out of the first 256 bytes of SRAM. */
|
||||
} > RAM
|
||||
|
||||
. = ORIGIN( RAM ) + _Privileged_Data_Region_Size;
|
||||
|
||||
/*
|
||||
* The initialised data section.
|
||||
* The program executes knowing that the data is in the RAM
|
||||
* but the loader puts the initial values in the ROM (inidata).
|
||||
* It is one task of the startup to copy the initial values from
|
||||
* ROM to RAM.
|
||||
*/
|
||||
.data : AT ( _sidata )
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
/* This is used by the startup code to initialise the .data section */
|
||||
_sdata = . ; /* STM specific definition */
|
||||
__data_start__ = . ;
|
||||
*(.data_begin .data_begin.*)
|
||||
|
||||
*(.data .data.*)
|
||||
|
||||
*(.data_end .data_end.*)
|
||||
. = ALIGN(4);
|
||||
|
||||
/* This is used by the startup code to initialise the .data section */
|
||||
_edata = . ; /* STM specific definition */
|
||||
__data_end__ = . ;
|
||||
|
||||
} >RAM
|
||||
|
||||
|
||||
/*
|
||||
* The uninitialised data section. NOLOAD is used to avoid
|
||||
* the "section `.bss' type changed to PROGBITS" warning
|
||||
*/
|
||||
.bss (NOLOAD) :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
__bss_start__ = .; /* standard newlib definition */
|
||||
_sbss = .; /* STM specific definition */
|
||||
*(.bss_begin .bss_begin.*)
|
||||
|
||||
*(.bss .bss.*)
|
||||
*(COMMON)
|
||||
|
||||
*(.bss_end .bss_end.*)
|
||||
. = ALIGN(4);
|
||||
__bss_end__ = .; /* standard newlib definition */
|
||||
_ebss = . ; /* STM specific definition */
|
||||
} >RAM
|
||||
|
||||
.noinit (NOLOAD) :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
_noinit = .;
|
||||
|
||||
*(.noinit .noinit.*)
|
||||
|
||||
. = ALIGN(4) ;
|
||||
_end_noinit = .;
|
||||
} > RAM
|
||||
|
||||
/* Mandatory to be word aligned, _sbrk assumes this */
|
||||
PROVIDE ( end = _end_noinit ); /* was _ebss */
|
||||
PROVIDE ( _end = _end_noinit );
|
||||
PROVIDE ( __end = _end_noinit );
|
||||
PROVIDE ( __end__ = _end_noinit );
|
||||
PROVIDE ( ROM_DATA_START = __data_start__ );
|
||||
|
||||
/*
|
||||
* Used for validation only, do not allocate anything here!
|
||||
*
|
||||
* This is just to check that there is enough RAM left for the Main
|
||||
* stack. It should generate an error if it's full.
|
||||
*/
|
||||
._check_stack :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
. = . + _Minimum_Stack_Size ;
|
||||
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
._check_rom_log :
|
||||
{
|
||||
. = ALIGN(4);
|
||||
|
||||
/* . = . + __ROM_Log_Size ; */
|
||||
|
||||
. = ALIGN(4);
|
||||
} >RAM
|
||||
|
||||
/*
|
||||
.bss_CCMRAM : ALIGN(4)
|
||||
{
|
||||
*(.bss.CCMRAM .bss.CCMRAM.*)
|
||||
} > CCMRAM
|
||||
*/
|
||||
/*
|
||||
* The ROM Bank1.
|
||||
* The C or assembly source must explicitly place the code
|
||||
* or data there using the "section" attribute.
|
||||
*/
|
||||
|
||||
|
||||
/* remaining code */
|
||||
/* read-only data (constants) */
|
||||
/*
|
||||
.b1text :
|
||||
{
|
||||
*(.b1text)
|
||||
*(.b1rodata)
|
||||
*(.b1rodata.*)
|
||||
} >ROMB1
|
||||
*/
|
||||
/*
|
||||
* The EXTMEM.
|
||||
* The C or assembly source must explicitly place the code or data there
|
||||
* using the "section" attribute.
|
||||
*/
|
||||
|
||||
/* EXTMEM Bank0 */
|
||||
/*
|
||||
.eb0text :
|
||||
{
|
||||
*(.eb0text)
|
||||
*(.eb0rodata)
|
||||
*(.eb0rodata.*)
|
||||
} >EXTMEMB0
|
||||
*/
|
||||
/* EXTMEM Bank1 */
|
||||
/*
|
||||
.eb1text :
|
||||
{
|
||||
*(.eb1text)
|
||||
*(.eb1rodata)
|
||||
*(.eb1rodata.*)
|
||||
} >EXTMEMB1
|
||||
*/
|
||||
/* EXTMEM Bank2 */
|
||||
/*
|
||||
.eb2text :
|
||||
{
|
||||
*(.eb2text)
|
||||
*(.eb2rodata)
|
||||
*(.eb2rodata.*)
|
||||
} >EXTMEMB2
|
||||
*/
|
||||
/* EXTMEM Bank0 */
|
||||
/*
|
||||
.eb3text :
|
||||
{
|
||||
*(.eb3text)
|
||||
*(.eb3rodata)
|
||||
*(.eb3rodata.*)
|
||||
} >EXTMEMB3
|
||||
*/
|
||||
|
||||
/* After that there are only debugging sections. */
|
||||
|
||||
/* This can remove the debugging information from the standard libraries */
|
||||
/*
|
||||
DISCARD :
|
||||
{
|
||||
libc.a ( * )
|
||||
libm.a ( * )
|
||||
libgcc.a ( * )
|
||||
}
|
||||
*/
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
/*
|
||||
* DWARF debug sections.
|
||||
* Symbols in the DWARF debugging sections are relative to the beginning
|
||||
* of the section so we begin them at 0.
|
||||
*/
|
||||
/* DWARF 1 */
|
||||
.debug 0 : { *(.debug) }
|
||||
.line 0 : { *(.line) }
|
||||
/* GNU DWARF 1 extensions */
|
||||
.debug_srcinfo 0 : { *(.debug_srcinfo) }
|
||||
.debug_sfnames 0 : { *(.debug_sfnames) }
|
||||
/* DWARF 1.1 and DWARF 2 */
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
/* DWARF 2 */
|
||||
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_frame 0 : { *(.debug_frame) }
|
||||
.debug_str 0 : { *(.debug_str) }
|
||||
.debug_loc 0 : { *(.debug_loc) }
|
||||
.debug_macinfo 0 : { *(.debug_macinfo) }
|
||||
/* SGI/MIPS DWARF 2 extensions */
|
||||
.debug_weaknames 0 : { *(.debug_weaknames) }
|
||||
.debug_funcnames 0 : { *(.debug_funcnames) }
|
||||
.debug_typenames 0 : { *(.debug_typenames) }
|
||||
.debug_varnames 0 : { *(.debug_varnames) }
|
||||
}
|
@ -0,0 +1,217 @@
|
||||
/* File: startup_ARMCM4.S
|
||||
* Purpose: startup file for Cortex-M4 devices. Should use with
|
||||
* GCC for ARM Embedded Processors
|
||||
* Version: V2.0
|
||||
* Date: 16 August 2013
|
||||
*
|
||||
/* Copyright (c) 2011 - 2013 ARM LIMITED
|
||||
|
||||
All rights reserved.
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
- Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
- Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
- Neither the name of ARM nor the names of its contributors may be used
|
||||
to endorse or promote products derived from this software without
|
||||
specific prior written permission.
|
||||
*
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
---------------------------------------------------------------------------*/
|
||||
.syntax unified
|
||||
.arch armv7e-m
|
||||
|
||||
.extern __SRAM_segment_end__
|
||||
|
||||
.section .isr_vector
|
||||
.align 4
|
||||
.globl __isr_vector
|
||||
__isr_vector:
|
||||
.long __SRAM_segment_end__ - 4 /* Top of Stack at top of RAM*/
|
||||
.long Reset_Handler /* Reset Handler */
|
||||
.long NMI_Handler /* NMI Handler */
|
||||
.long HardFault_Handler /* Hard Fault Handler */
|
||||
.long MemManage_Handler /* MPU Fault Handler */
|
||||
.long BusFault_Handler /* Bus Fault Handler */
|
||||
.long UsageFault_Handler /* Usage Fault Handler */
|
||||
.long 0 /* Reserved */
|
||||
.long 0 /* Reserved */
|
||||
.long 0 /* Reserved */
|
||||
.long 0 /* Reserved */
|
||||
.long SVC_Handler /* SVCall Handler */
|
||||
.long DebugMon_Handler /* Debug Monitor Handler */
|
||||
.long 0 /* Reserved */
|
||||
.long PendSV_Handler /* PendSV Handler */
|
||||
.long SysTick_Handler /* SysTick Handler */
|
||||
|
||||
/* External interrupts */
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
.long DummyHandler
|
||||
|
||||
|
||||
.text
|
||||
.thumb
|
||||
.thumb_func
|
||||
.align 2
|
||||
.globl _start
|
||||
.extern main
|
||||
.globl Reset_Handler
|
||||
.type Reset_Handler, %function
|
||||
_start:
|
||||
Reset_Handler:
|
||||
/* Firstly it copies data from read only memory to RAM. There are two schemes
|
||||
* to copy. One can copy more than one sections. Another can only copy
|
||||
* one section. The former scheme needs more instructions and read-only
|
||||
* data to implement than the latter.
|
||||
* Macro __STARTUP_COPY_MULTIPLE is used to choose between two schemes. */
|
||||
|
||||
/* Single section scheme.
|
||||
*
|
||||
* The ranges of copy from/to are specified by following symbols
|
||||
* __etext: LMA of start of the section to copy from. Usually end of text
|
||||
* __data_start__: VMA of start of the section to copy to
|
||||
* __data_end__: VMA of end of the section to copy to
|
||||
*
|
||||
* All addresses must be aligned to 4 bytes boundary.
|
||||
*/
|
||||
ldr r1, =__etext
|
||||
ldr r2, =__data_start__
|
||||
ldr r3, =__data_end__
|
||||
|
||||
.L_loop1:
|
||||
cmp r2, r3
|
||||
ittt lt
|
||||
ldrlt r0, [r1], #4
|
||||
strlt r0, [r2], #4
|
||||
blt .L_loop1
|
||||
|
||||
/* This part of work usually is done in C library startup code. Otherwise,
|
||||
* define this macro to enable it in this startup.
|
||||
*
|
||||
* There are two schemes too. One can clear multiple BSS sections. Another
|
||||
* can only clear one section. The former is more size expensive than the
|
||||
* latter.
|
||||
*
|
||||
* Define macro __STARTUP_CLEAR_BSS_MULTIPLE to choose the former.
|
||||
* Otherwise efine macro __STARTUP_CLEAR_BSS to choose the later.
|
||||
*/
|
||||
|
||||
/* Single BSS section scheme.
|
||||
*
|
||||
* The BSS section is specified by following symbols
|
||||
* __bss_start__: start of the BSS section.
|
||||
* __bss_end__: end of the BSS section.
|
||||
*
|
||||
* Both addresses must be aligned to 4 bytes boundary.
|
||||
*/
|
||||
ldr r1, =__bss_start__
|
||||
ldr r2, =__bss_end__
|
||||
|
||||
movs r0, 0
|
||||
.L_loop3:
|
||||
cmp r1, r2
|
||||
itt lt
|
||||
strlt r0, [r1], #4
|
||||
blt .L_loop3
|
||||
|
||||
#ifndef __NO_SYSTEM_INIT
|
||||
/* bl SystemInit */
|
||||
#endif
|
||||
|
||||
bl main
|
||||
|
||||
.pool
|
||||
.size Reset_Handler, . - Reset_Handler
|
||||
|
||||
.align 1
|
||||
.thumb_func
|
||||
.weak Default_Handler
|
||||
.type Default_Handler, %function
|
||||
Default_Handler:
|
||||
b .
|
||||
.size Default_Handler, . - Default_Handler
|
||||
|
||||
/* Macro to define default handlers. Default handler
|
||||
* will be weak symbol and just dead loops. They can be
|
||||
* overwritten by other handlers */
|
||||
.macro def_irq_handler handler_name
|
||||
.weak \handler_name
|
||||
.set \handler_name, Default_Handler
|
||||
.endm
|
||||
|
||||
def_irq_handler NMI_Handler
|
||||
def_irq_handler HardFault_Handler
|
||||
def_irq_handler MemManage_Handler
|
||||
def_irq_handler BusFault_Handler
|
||||
def_irq_handler UsageFault_Handler
|
||||
def_irq_handler SVC_Handler
|
||||
def_irq_handler DebugMon_Handler
|
||||
def_irq_handler PendSV_Handler
|
||||
def_irq_handler SysTick_Handler
|
||||
def_irq_handler DEF_IRQHandler
|
||||
def_irq_handler DummyHandler
|
||||
|
||||
|
||||
.end
|
@ -0,0 +1,961 @@
|
||||
/*
|
||||
FreeRTOS V9.0.0rc2 - Copyright (C) 2016 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!
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
* This file demonstrates the use of FreeRTOS-MPU. It creates tasks in both
|
||||
* User mode and Privileged mode, and using both the original xTaskCreate() and
|
||||
* the new xTaskCreateRestricted() API functions. The purpose of each created
|
||||
* task is documented in the comments above the task function prototype (in
|
||||
* this file), with the task behaviour demonstrated and documented within the
|
||||
* task function itself. In addition a queue is used to demonstrate passing
|
||||
* data between protected/restricted tasks as well as passing data between an
|
||||
* interrupt and a protected/restricted task.
|
||||
*/
|
||||
|
||||
/* Standard includes. */
|
||||
#include "string.h"
|
||||
|
||||
/* Scheduler includes. */
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "queue.h"
|
||||
#include "semphr.h"
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Misc constants. */
|
||||
#define mainDONT_BLOCK ( 0 )
|
||||
|
||||
/* Definitions for the messages that can be sent to the check task. */
|
||||
#define mainREG_TEST_1_STILL_EXECUTING ( 0 )
|
||||
#define mainREG_TEST_2_STILL_EXECUTING ( 1 )
|
||||
#define mainPRINT_SYSTEM_STATUS ( 2 )
|
||||
|
||||
/* GCC specifics. */
|
||||
#define mainALIGN_TO( x ) __attribute__((aligned(x)))
|
||||
|
||||
/* Hardware register addresses. */
|
||||
#define mainVTOR ( * ( volatile uint32_t * ) 0xE000ED08 )
|
||||
#define mainNVIC_AUX_ACTLR ( * ( volatile uint32_t * ) 0xE000E008 )
|
||||
#define mainEC_INTERRUPT_CONTROL ( * ( volatile uint32_t * ) 0x4000FC18 )
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
/* Prototypes for functions that implement tasks. -----------*/
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Prototype for the reg test tasks. Amongst other things, these fill the CPU
|
||||
* registers with known values before checking that the registers still contain
|
||||
* the expected values. Each of the two tasks use different values so an error
|
||||
* in the context switch mechanism can be caught. Both reg test tasks execute
|
||||
* at the idle priority so will get preempted regularly. Each task repeatedly
|
||||
* sends a message on a queue so long as it remains functioning correctly. If
|
||||
* an error is detected within the task the task is simply deleted.
|
||||
*/
|
||||
static void prvRegTest1Task( void *pvParameters );
|
||||
static void prvRegTest2Task( void *pvParameters );
|
||||
|
||||
/*
|
||||
* Prototype for the check task. The check task demonstrates various features
|
||||
* of the MPU before entering a loop where it waits for messages to arrive on a
|
||||
* queue.
|
||||
*
|
||||
* Two types of messages can be processes:
|
||||
*
|
||||
* 1) "I'm Alive" messages sent from the reg test tasks, indicating that the
|
||||
* task is still operational.
|
||||
*
|
||||
* 2) "Print Status commands" sent periodically by the tick hook function (and
|
||||
* therefore from within an interrupt) which command the check task to write
|
||||
* either pass or fail to the terminal, depending on the status of the reg
|
||||
* test tasks.
|
||||
*/
|
||||
static void prvCheckTask( void *pvParameters );
|
||||
|
||||
/*
|
||||
* Prototype for a task created in User mode using the original vTaskCreate()
|
||||
* API function. The task demonstrates the characteristics of such a task,
|
||||
* before simply deleting itself.
|
||||
*/
|
||||
static void prvOldStyleUserModeTask( void *pvParameters );
|
||||
|
||||
/*
|
||||
* Prototype for a task created in Privileged mode using the original
|
||||
* vTaskCreate() API function. The task demonstrates the characteristics of
|
||||
* such a task, before simply deleting itself.
|
||||
*/
|
||||
static void prvOldStylePrivilegedModeTask( void *pvParameters );
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
/* Prototypes for other misc functions. --------------------*/
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/*
|
||||
* Just configures any clocks and IO necessary.
|
||||
*/
|
||||
static void prvSetupHardware( void );
|
||||
|
||||
/*
|
||||
* Simply deletes the calling task. The function is provided only because it
|
||||
* is simpler to call from asm code than the normal vTaskDelete() API function.
|
||||
* It has the noinline attribute because it is called from asm code.
|
||||
*/
|
||||
static void prvDeleteMe( void ) __attribute__((noinline));
|
||||
|
||||
/*
|
||||
* Used by both reg test tasks to send messages to the check task. The message
|
||||
* just lets the check task know that the task is still functioning correctly.
|
||||
* If a reg test task detects an error it will delete itself, and in so doing
|
||||
* prevent itself from sending any more 'I'm Alive' messages to the check task.
|
||||
*/
|
||||
static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber );
|
||||
|
||||
/*
|
||||
* The check task is created with access to three memory regions (plus its
|
||||
* stack). Each memory region is configured with different parameters and
|
||||
* prvTestMemoryRegions() demonstrates what can and cannot be accessed for each
|
||||
* region. prvTestMemoryRegions() also demonstrates a task that was created
|
||||
* as a privileged task settings its own privilege level down to that of a user
|
||||
* task.
|
||||
*/
|
||||
static void prvTestMemoryRegions( void );
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* The handle of the queue used to communicate between tasks and between tasks
|
||||
and interrupts. Note that this is a file scope variable that falls outside of
|
||||
any MPU region. As such other techniques have to be used to allow the tasks
|
||||
to gain access to the queue. See the comments in the tasks themselves for
|
||||
further information. */
|
||||
static QueueHandle_t xFileScopeCheckQueue = NULL;
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
/* Data used by the 'check' task. ---------------------------*/
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Define the constants used to allocate the check task stack. Note that the
|
||||
stack size is defined in words, not bytes. */
|
||||
#define mainCHECK_TASK_STACK_SIZE_WORDS 128
|
||||
#define mainCHECK_TASK_STACK_ALIGNMENT ( mainCHECK_TASK_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
|
||||
|
||||
/* Declare the stack that will be used by the check task. The kernel will
|
||||
automatically create an MPU region for the stack. The stack alignment must
|
||||
match its size, so if 128 words are reserved for the stack then it must be
|
||||
aligned to ( 128 * 4 ) bytes. */
|
||||
static portSTACK_TYPE xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] mainALIGN_TO( mainCHECK_TASK_STACK_ALIGNMENT );
|
||||
|
||||
/* Declare three arrays - an MPU region will be created for each array
|
||||
using the TaskParameters_t structure below. THIS IS JUST TO DEMONSTRATE THE
|
||||
MPU FUNCTIONALITY, the data is not used by the check tasks primary function
|
||||
of monitoring the reg test tasks and printing out status information.
|
||||
|
||||
Note that the arrays allocate slightly more RAM than is actually assigned to
|
||||
the MPU region. This is to permit writes off the end of the array to be
|
||||
detected even when the arrays are placed in adjacent memory locations (with no
|
||||
gaps between them). The align size must be a power of two. */
|
||||
#define mainREAD_WRITE_ARRAY_SIZE 130
|
||||
#define mainREAD_WRITE_ALIGN_SIZE 128
|
||||
char cReadWriteArray[ mainREAD_WRITE_ARRAY_SIZE ] mainALIGN_TO( mainREAD_WRITE_ALIGN_SIZE );
|
||||
|
||||
#define mainREAD_ONLY_ARRAY_SIZE 260
|
||||
#define mainREAD_ONLY_ALIGN_SIZE 256
|
||||
char cReadOnlyArray[ mainREAD_ONLY_ARRAY_SIZE ] mainALIGN_TO( mainREAD_ONLY_ALIGN_SIZE );
|
||||
|
||||
#define mainPRIVILEGED_ONLY_ACCESS_ARRAY_SIZE 130
|
||||
#define mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE 128
|
||||
char cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] mainALIGN_TO( mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE );
|
||||
|
||||
/* Fill in a TaskParameters_t structure to define the check task - this is the
|
||||
structure passed to the xTaskCreateRestricted() function. */
|
||||
static const TaskParameters_t xCheckTaskParameters =
|
||||
{
|
||||
prvCheckTask, /* pvTaskCode - the function that implements the task. */
|
||||
"Check", /* pcName */
|
||||
mainCHECK_TASK_STACK_SIZE_WORDS, /* usStackDepth - defined in words, not bytes. */
|
||||
( void * ) 0x12121212, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
|
||||
( tskIDLE_PRIORITY + 1 ) | portPRIVILEGE_BIT,/* uxPriority - this is the highest priority task in the system. The task is created in privileged mode to demonstrate accessing the privileged only data. */
|
||||
xCheckTaskStack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
||||
|
||||
/* xRegions - In this case the xRegions array is used to create MPU regions
|
||||
for all three of the arrays declared directly above. Each MPU region is
|
||||
created with different parameters. Again, THIS IS JUST TO DEMONSTRATE THE
|
||||
MPU FUNCTIONALITY, the data is not used by the check tasks primary function
|
||||
of monitoring the reg test tasks and printing out status information.*/
|
||||
{
|
||||
/* Base address Length Parameters */
|
||||
{ cReadWriteArray, mainREAD_WRITE_ALIGN_SIZE, portMPU_REGION_READ_WRITE },
|
||||
{ cReadOnlyArray, mainREAD_ONLY_ALIGN_SIZE, portMPU_REGION_READ_ONLY },
|
||||
{ cPrivilegedOnlyAccessArray, mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE, portMPU_REGION_PRIVILEGED_READ_WRITE }
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
/* Data used by the 'reg test' tasks. -----------------------*/
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
/* Define the constants used to allocate the reg test task stacks. Note that
|
||||
that stack size is defined in words, not bytes. */
|
||||
#define mainREG_TEST_STACK_SIZE_WORDS 128
|
||||
#define mainREG_TEST_STACK_ALIGNMENT ( mainREG_TEST_STACK_SIZE_WORDS * sizeof( portSTACK_TYPE ) )
|
||||
|
||||
/* Declare the stacks that will be used by the reg test tasks. The kernel will
|
||||
automatically create an MPU region for the stack. The stack alignment must
|
||||
match its size, so if 128 words are reserved for the stack then it must be
|
||||
aligned to ( 128 * 4 ) bytes. */
|
||||
static portSTACK_TYPE xRegTest1Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
|
||||
static portSTACK_TYPE xRegTest2Stack[ mainREG_TEST_STACK_SIZE_WORDS ] mainALIGN_TO( mainREG_TEST_STACK_ALIGNMENT );
|
||||
|
||||
/* Fill in a TaskParameters_t structure per reg test task to define the tasks. */
|
||||
static const TaskParameters_t xRegTest1Parameters =
|
||||
{
|
||||
prvRegTest1Task, /* pvTaskCode - the function that implements the task. */
|
||||
"RegTest1", /* pcName */
|
||||
mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
|
||||
( void * ) 0x12345678, /* pvParameters - this value is just to test that the parameter is being passed into the task correctly. */
|
||||
tskIDLE_PRIORITY | portPRIVILEGE_BIT, /* uxPriority - note that this task is created with privileges to demonstrate one method of passing a queue handle into the task. */
|
||||
xRegTest1Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
||||
{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
|
||||
/* Base address Length Parameters */
|
||||
{ 0x00, 0x00, 0x00 },
|
||||
{ 0x00, 0x00, 0x00 },
|
||||
{ 0x00, 0x00, 0x00 }
|
||||
}
|
||||
};
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static TaskParameters_t xRegTest2Parameters =
|
||||
{
|
||||
prvRegTest2Task, /* pvTaskCode - the function that implements the task. */
|
||||
"RegTest2", /* pcName */
|
||||
mainREG_TEST_STACK_SIZE_WORDS, /* usStackDepth */
|
||||
( void * ) NULL, /* pvParameters - this task uses the parameter to pass in a queue handle, but the queue is not created yet. */
|
||||
tskIDLE_PRIORITY, /* uxPriority */
|
||||
xRegTest2Stack, /* puxStackBuffer - the array to use as the task stack, as declared above. */
|
||||
{ /* xRegions - this task does not use any non-stack data hence all members are zero. */
|
||||
/* Base address Length Parameters */
|
||||
{ 0x00, 0x00, 0x00 },
|
||||
{ 0x00, 0x00, 0x00 },
|
||||
{ 0x00, 0x00, 0x00 }
|
||||
}
|
||||
};
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
int main( void )
|
||||
{
|
||||
prvSetupHardware();
|
||||
|
||||
/* Create the queue used to pass "I'm alive" messages to the check task. */
|
||||
xFileScopeCheckQueue = xQueueCreate( 1, sizeof( unsigned long ) );
|
||||
|
||||
/* One check task uses the task parameter to receive the queue handle.
|
||||
This allows the file scope variable to be accessed from within the task.
|
||||
The pvParameters member of xRegTest2Parameters can only be set after the
|
||||
queue has been created so is set here. */
|
||||
xRegTest2Parameters.pvParameters = xFileScopeCheckQueue;
|
||||
|
||||
/* Create the three test tasks. Handles to the created tasks are not
|
||||
required, hence the second parameter is NULL. */
|
||||
xTaskCreateRestricted( &xRegTest1Parameters, NULL );
|
||||
xTaskCreateRestricted( &xRegTest2Parameters, NULL );
|
||||
xTaskCreateRestricted( &xCheckTaskParameters, NULL );
|
||||
|
||||
/* Create the tasks that are created using the original xTaskCreate() API
|
||||
function. */
|
||||
xTaskCreate( prvOldStyleUserModeTask, /* The function that implements the task. */
|
||||
"Task1", /* Text name for the task. */
|
||||
100, /* Stack depth in words. */
|
||||
NULL, /* Task parameters. */
|
||||
3, /* Priority and mode (user in this case). */
|
||||
NULL /* Handle. */
|
||||
);
|
||||
|
||||
xTaskCreate( prvOldStylePrivilegedModeTask, /* The function that implements the task. */
|
||||
"Task2", /* Text name for the task. */
|
||||
100, /* Stack depth in words. */
|
||||
NULL, /* Task parameters. */
|
||||
( 3 | portPRIVILEGE_BIT ), /* Priority and mode. */
|
||||
NULL /* Handle. */
|
||||
);
|
||||
|
||||
/* Start the scheduler. */
|
||||
vTaskStartScheduler();
|
||||
|
||||
/* Will only get here if there was insufficient memory to create the idle
|
||||
task. */
|
||||
for( ;; );
|
||||
return 0;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvCheckTask( void *pvParameters )
|
||||
{
|
||||
/* This task is created in privileged mode so can access the file scope
|
||||
queue variable. Take a stack copy of this before the task is set into user
|
||||
mode. Once that task is in user mode the file scope queue variable will no
|
||||
longer be accessible but the stack copy will. */
|
||||
QueueHandle_t xQueue = xFileScopeCheckQueue;
|
||||
long lMessage;
|
||||
unsigned long ulStillAliveCounts[ 2 ] = { 0 };
|
||||
const char *pcStatusMessage = "PASS\r\n";
|
||||
|
||||
|
||||
/* Just to remove compiler warning. */
|
||||
( void ) pvParameters;
|
||||
|
||||
/* Demonstrate how the various memory regions can and can't be accessed.
|
||||
The task privilege level is set down to user mode within this function. */
|
||||
prvTestMemoryRegions();
|
||||
|
||||
/* Tests are done so lower the privilege status. */
|
||||
portSWITCH_TO_USER_MODE();
|
||||
|
||||
/* This loop performs the main function of the task, which is blocking
|
||||
on a message queue then processing each message as it arrives. */
|
||||
for( ;; )
|
||||
{
|
||||
/* Wait for the next message to arrive. */
|
||||
xQueueReceive( xQueue, &lMessage, portMAX_DELAY );
|
||||
|
||||
switch( lMessage )
|
||||
{
|
||||
case mainREG_TEST_1_STILL_EXECUTING :
|
||||
/* Message from task 1, so task 1 must still be executing. */
|
||||
( ulStillAliveCounts[ 0 ] )++;
|
||||
break;
|
||||
|
||||
case mainREG_TEST_2_STILL_EXECUTING :
|
||||
/* Message from task 2, so task 2 must still be executing. */
|
||||
( ulStillAliveCounts[ 1 ] )++;
|
||||
break;
|
||||
|
||||
case mainPRINT_SYSTEM_STATUS :
|
||||
/* Message from tick hook, time to print out the system
|
||||
status. If messages has stopped arriving from either reg
|
||||
test task then the status must be set to fail. */
|
||||
if( ( ulStillAliveCounts[ 0 ] == 0 ) || ( ulStillAliveCounts[ 1 ] == 0 ) )
|
||||
{
|
||||
/* One or both of the test tasks are no longer sending
|
||||
'still alive' messages. */
|
||||
pcStatusMessage = "FAIL\r\n";
|
||||
}
|
||||
|
||||
/* Print a pass/fail message to the terminal. This will be
|
||||
visible in the CrossWorks IDE. */
|
||||
// MPU_debug_printf( pcStatusMessage );
|
||||
( void ) pcStatusMessage;
|
||||
|
||||
/* Reset the count of 'still alive' messages. */
|
||||
memset( ulStillAliveCounts, 0x00, sizeof( ulStillAliveCounts ) );
|
||||
break;
|
||||
|
||||
default :
|
||||
/* Something unexpected happened. Delete this task so the
|
||||
error is apparent (no output will be displayed). */
|
||||
prvDeleteMe();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvTestMemoryRegions( void )
|
||||
{
|
||||
long l;
|
||||
char cTemp;
|
||||
|
||||
/* The check task (from which this function is called) is created in the
|
||||
Privileged mode. The privileged array can be both read from and written
|
||||
to while this task is privileged. */
|
||||
cPrivilegedOnlyAccessArray[ 0 ] = 'a';
|
||||
if( cPrivilegedOnlyAccessArray[ 0 ] != 'a' )
|
||||
{
|
||||
/* Something unexpected happened. Delete this task so the error is
|
||||
apparent (no output will be displayed). */
|
||||
prvDeleteMe();
|
||||
}
|
||||
|
||||
/* Writing off the end of the RAM allocated to this task will *NOT* cause a
|
||||
protection fault because the task is still executing in a privileged mode.
|
||||
Uncomment the following to test. */
|
||||
/*cPrivilegedOnlyAccessArray[ mainPRIVILEGED_ONLY_ACCESS_ALIGN_SIZE ] = 'a';*/
|
||||
|
||||
/* Now set the task into user mode. */
|
||||
portSWITCH_TO_USER_MODE();
|
||||
|
||||
/* Accessing the privileged only array will now cause a fault. Uncomment
|
||||
the following line to test. */
|
||||
/*cPrivilegedOnlyAccessArray[ 0 ] = 'a';*/
|
||||
|
||||
/* The read/write array can still be successfully read and written. */
|
||||
for( l = 0; l < mainREAD_WRITE_ALIGN_SIZE; l++ )
|
||||
{
|
||||
cReadWriteArray[ l ] = 'a';
|
||||
if( cReadWriteArray[ l ] != 'a' )
|
||||
{
|
||||
/* Something unexpected happened. Delete this task so the error is
|
||||
apparent (no output will be displayed). */
|
||||
prvDeleteMe();
|
||||
}
|
||||
}
|
||||
|
||||
/* But attempting to read or write off the end of the RAM allocated to this
|
||||
task will cause a fault. Uncomment either of the following two lines to
|
||||
test. */
|
||||
/* cReadWriteArray[ 0 ] = cReadWriteArray[ -1 ]; */
|
||||
/* cReadWriteArray[ mainREAD_WRITE_ALIGN_SIZE ] = 0x00; */
|
||||
|
||||
/* The read only array can be successfully read... */
|
||||
for( l = 0; l < mainREAD_ONLY_ALIGN_SIZE; l++ )
|
||||
{
|
||||
cTemp = cReadOnlyArray[ l ];
|
||||
}
|
||||
|
||||
/* ...but cannot be written. Uncomment the following line to test. */
|
||||
/* cReadOnlyArray[ 0 ] = 'a'; */
|
||||
|
||||
/* Writing to the first and last locations in the stack array should not
|
||||
cause a protection fault. Note that doing this will cause the kernel to
|
||||
detect a stack overflow if configCHECK_FOR_STACK_OVERFLOW is greater than
|
||||
1, hence the test is commented out by default. */
|
||||
/* xCheckTaskStack[ 0 ] = 0;
|
||||
xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS - 1 ] = 0; */
|
||||
|
||||
/* Writing off either end of the stack array should cause a protection
|
||||
fault, uncomment either of the following two lines to test. */
|
||||
/* xCheckTaskStack[ -1 ] = 0; */
|
||||
/* xCheckTaskStack[ mainCHECK_TASK_STACK_SIZE_WORDS ] = 0; */
|
||||
|
||||
( void ) cTemp;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvRegTest1Task( void *pvParameters )
|
||||
{
|
||||
/* This task is created in privileged mode so can access the file scope
|
||||
queue variable. Take a stack copy of this before the task is set into user
|
||||
mode. Once this task is in user mode the file scope queue variable will no
|
||||
longer be accessible but the stack copy will. */
|
||||
QueueHandle_t xQueue = xFileScopeCheckQueue;
|
||||
|
||||
/* Now the queue handle has been obtained the task can switch to user
|
||||
mode. This is just one method of passing a handle into a protected
|
||||
task, the other reg test task uses the task parameter instead. */
|
||||
portSWITCH_TO_USER_MODE();
|
||||
|
||||
/* First check that the parameter value is as expected. */
|
||||
if( pvParameters != ( void * ) 0x12345678 )
|
||||
{
|
||||
/* Error detected. Delete the task so it stops communicating with
|
||||
the check task. */
|
||||
prvDeleteMe();
|
||||
}
|
||||
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* This task tests the kernel context switch mechanism by reading and
|
||||
writing directly to registers - which requires the test to be written
|
||||
in assembly code. */
|
||||
__asm volatile
|
||||
(
|
||||
" MOV R4, #104 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
||||
" MOV R5, #105 \n"
|
||||
" MOV R6, #106 \n"
|
||||
" MOV R8, #108 \n"
|
||||
" MOV R9, #109 \n"
|
||||
" MOV R10, #110 \n"
|
||||
" MOV R11, #111 \n"
|
||||
"reg1loop: \n"
|
||||
" MOV R0, #100 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
||||
" MOV R1, #101 \n"
|
||||
" MOV R2, #102 \n"
|
||||
" MOV R3, #103 \n"
|
||||
" MOV R12, #112 \n"
|
||||
" SVC #1 \n" /* Yield just to increase test coverage. */
|
||||
" CMP R0, #100 \n" /* Check all the registers still contain their expected values. */
|
||||
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task. */
|
||||
" CMP R1, #101 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R2, #102 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R3, #103 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R4, #104 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R5, #105 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R6, #106 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R8, #108 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R9, #109 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R10, #110 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R11, #111 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R12, #112 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
|
||||
);
|
||||
|
||||
/* Send mainREG_TEST_1_STILL_EXECUTING to the check task to indicate that this
|
||||
task is still functioning. */
|
||||
prvSendImAlive( xQueue, mainREG_TEST_1_STILL_EXECUTING );
|
||||
|
||||
/* Go back to check all the register values again. */
|
||||
__asm volatile( " B reg1loop " );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvRegTest2Task( void *pvParameters )
|
||||
{
|
||||
/* The queue handle is passed in as the task parameter. This is one method of
|
||||
passing data into a protected task, the other reg test task uses a different
|
||||
method. */
|
||||
QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
|
||||
|
||||
for( ;; )
|
||||
{
|
||||
/* This task tests the kernel context switch mechanism by reading and
|
||||
writing directly to registers - which requires the test to be written
|
||||
in assembly code. */
|
||||
__asm volatile
|
||||
(
|
||||
" MOV R4, #4 \n" /* Set registers to a known value. R0 to R1 are done in the loop below. */
|
||||
" MOV R5, #5 \n"
|
||||
" MOV R6, #6 \n"
|
||||
" MOV R8, #8 \n" /* Frame pointer is omitted as it must not be changed. */
|
||||
" MOV R9, #9 \n"
|
||||
" MOV R10, 10 \n"
|
||||
" MOV R11, #11 \n"
|
||||
"reg2loop: \n"
|
||||
" MOV R0, #13 \n" /* Set the scratch registers to known values - done inside the loop as they get clobbered. */
|
||||
" MOV R1, #1 \n"
|
||||
" MOV R2, #2 \n"
|
||||
" MOV R3, #3 \n"
|
||||
" MOV R12, #12 \n"
|
||||
" CMP R0, #13 \n" /* Check all the registers still contain their expected values. */
|
||||
" BNE prvDeleteMe \n" /* Value was not as expected, delete the task so it stops communicating with the check task */
|
||||
" CMP R1, #1 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R2, #2 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R3, #3 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R4, #4 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R5, #5 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R6, #6 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R8, #8 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R9, #9 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R10, #10 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R11, #11 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
" CMP R12, #12 \n"
|
||||
" BNE prvDeleteMe \n"
|
||||
:::"r0", "r1", "r2", "r3", "r4", "r5", "r6", "r8", "r9", "r10", "r11", "r12"
|
||||
);
|
||||
|
||||
/* Send mainREG_TEST_2_STILL_EXECUTING to the check task to indicate that this
|
||||
task is still functioning. */
|
||||
prvSendImAlive( xQueue, mainREG_TEST_2_STILL_EXECUTING );
|
||||
|
||||
/* Go back to check all the register values again. */
|
||||
__asm volatile( " B reg2loop " );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationIdleHook( void )
|
||||
{
|
||||
extern unsigned long __SRAM_segment_end__[];
|
||||
extern unsigned long __privileged_data_start__[];
|
||||
extern unsigned long __privileged_data_end__[];
|
||||
extern unsigned long __FLASH_segment_start__[];
|
||||
extern unsigned long __FLASH_segment_end__[];
|
||||
volatile unsigned long *pul;
|
||||
volatile unsigned long ulReadData;
|
||||
|
||||
/* The idle task, and therefore this function, run in Supervisor mode and
|
||||
can therefore access all memory. Try reading from corners of flash and
|
||||
RAM to ensure a memory fault does not occur.
|
||||
|
||||
Start with the edges of the privileged data area. */
|
||||
pul = __privileged_data_start__;
|
||||
ulReadData = *pul;
|
||||
pul = __privileged_data_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Next the standard SRAM area. */
|
||||
pul = __SRAM_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* And the standard Flash area - the start of which is marked for
|
||||
privileged access only. */
|
||||
pul = __FLASH_segment_start__;
|
||||
ulReadData = *pul;
|
||||
pul = __FLASH_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Reading off the end of Flash or SRAM space should cause a fault.
|
||||
Uncomment one of the following two pairs of lines to test. */
|
||||
|
||||
/* pul = __FLASH_segment_end__ + 4;
|
||||
ulReadData = *pul; */
|
||||
|
||||
/* pul = __SRAM_segment_end__ + 1;
|
||||
ulReadData = *pul; */
|
||||
|
||||
( void ) ulReadData;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvOldStyleUserModeTask( void *pvParameters )
|
||||
{
|
||||
extern unsigned long __privileged_data_start__[];
|
||||
extern unsigned long __privileged_data_end__[];
|
||||
extern unsigned long __SRAM_segment_end__[];
|
||||
extern unsigned long __privileged_functions_end__[];
|
||||
extern unsigned long __FLASH_segment_start__[];
|
||||
extern unsigned long __FLASH_segment_end__[];
|
||||
//const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4;
|
||||
volatile unsigned long *pul;
|
||||
volatile unsigned long ulReadData;
|
||||
|
||||
/* The following lines are commented out to prevent the unused variable
|
||||
compiler warnings when the tests that use the variable are also commented out.
|
||||
extern unsigned long __privileged_functions_start__[];
|
||||
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; */
|
||||
|
||||
( void ) pvParameters;
|
||||
|
||||
/* This task is created in User mode using the original xTaskCreate() API
|
||||
function. It should have access to all Flash and RAM except that marked
|
||||
as Privileged access only. Reading from the start and end of the non-
|
||||
privileged RAM should not cause a problem (the privileged RAM is the first
|
||||
block at the bottom of the RAM memory). */
|
||||
pul = __privileged_data_end__ + 1;
|
||||
ulReadData = *pul;
|
||||
pul = __SRAM_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Likewise reading from the start and end of the non-privileged Flash
|
||||
should not be a problem (the privileged Flash is the first block at the
|
||||
bottom of the Flash memory). */
|
||||
pul = __privileged_functions_end__ + 1;
|
||||
ulReadData = *pul;
|
||||
pul = __FLASH_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Standard peripherals are accessible. */
|
||||
// ulReadData = *pulStandardPeripheralRegister;
|
||||
|
||||
/* System peripherals are not accessible. Uncomment the following line
|
||||
to test. Also uncomment the declaration of pulSystemPeripheralRegister
|
||||
at the top of this function. */
|
||||
/* ulReadData = *pulSystemPeripheralRegister; */
|
||||
|
||||
/* Reading from anywhere inside the privileged Flash or RAM should cause a
|
||||
fault. This can be tested by uncommenting any of the following pairs of
|
||||
lines. Also uncomment the declaration of __privileged_functions_start__
|
||||
at the top of this function. */
|
||||
|
||||
/* pul = __privileged_functions_start__;
|
||||
ulReadData = *pul; */
|
||||
|
||||
/* pul = __privileged_functions_end__ - 1;
|
||||
ulReadData = *pul; */
|
||||
|
||||
/* pul = __privileged_data_start__;
|
||||
ulReadData = *pul; */
|
||||
|
||||
/* pul = __privileged_data_end__ - 1;
|
||||
ulReadData = *pul; */
|
||||
|
||||
/* Must not just run off the end of a task function, so delete this task.
|
||||
Note that because this task was created using xTaskCreate() the stack was
|
||||
allocated dynamically and I have not included any code to free it again. */
|
||||
vTaskDelete( NULL );
|
||||
|
||||
( void ) ulReadData;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvOldStylePrivilegedModeTask( void *pvParameters )
|
||||
{
|
||||
extern unsigned long __privileged_data_start__[];
|
||||
extern unsigned long __privileged_data_end__[];
|
||||
extern unsigned long __SRAM_segment_end__[];
|
||||
extern unsigned long __privileged_functions_start__[];
|
||||
extern unsigned long __privileged_functions_end__[];
|
||||
extern unsigned long __FLASH_segment_start__[];
|
||||
extern unsigned long __FLASH_segment_end__[];
|
||||
volatile unsigned long *pul;
|
||||
volatile unsigned long ulReadData;
|
||||
const volatile unsigned long *pulSystemPeripheralRegister = ( volatile unsigned long * ) 0xe000e014; /* Systick */
|
||||
//const volatile unsigned long *pulStandardPeripheralRegister = ( volatile unsigned long * ) 0x400FC0C4;
|
||||
|
||||
( void ) pvParameters;
|
||||
|
||||
/* This task is created in Privileged mode using the original xTaskCreate()
|
||||
API function. It should have access to all Flash and RAM including that
|
||||
marked as Privileged access only. So reading from the start and end of the
|
||||
non-privileged RAM should not cause a problem (the privileged RAM is the
|
||||
first block at the bottom of the RAM memory). */
|
||||
pul = __privileged_data_end__ + 1;
|
||||
ulReadData = *pul;
|
||||
pul = __SRAM_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Likewise reading from the start and end of the non-privileged Flash
|
||||
should not be a problem (the privileged Flash is the first block at the
|
||||
bottom of the Flash memory). */
|
||||
pul = __privileged_functions_end__ + 1;
|
||||
ulReadData = *pul;
|
||||
pul = __FLASH_segment_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Reading from anywhere inside the privileged Flash or RAM should also
|
||||
not be a problem. */
|
||||
pul = __privileged_functions_start__;
|
||||
ulReadData = *pul;
|
||||
pul = __privileged_functions_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
pul = __privileged_data_start__;
|
||||
ulReadData = *pul;
|
||||
pul = __privileged_data_end__ - 1;
|
||||
ulReadData = *pul;
|
||||
|
||||
/* Finally, accessing both System and normal peripherals should both be
|
||||
possible. */
|
||||
ulReadData = *pulSystemPeripheralRegister;
|
||||
// ulReadData = *pulStandardPeripheralRegister;
|
||||
|
||||
/* Must not just run off the end of a task function, so delete this task.
|
||||
Note that because this task was created using xTaskCreate() the stack was
|
||||
allocated dynamically and I have not included any code to free it again. */
|
||||
vTaskDelete( NULL );
|
||||
|
||||
( void ) ulReadData;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvDeleteMe( void )
|
||||
{
|
||||
vTaskDelete( NULL );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSendImAlive( QueueHandle_t xHandle, unsigned long ulTaskNumber )
|
||||
{
|
||||
if( xHandle != NULL )
|
||||
{
|
||||
xQueueSend( xHandle, &ulTaskNumber, mainDONT_BLOCK );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
static void prvSetupHardware( void )
|
||||
{
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationTickHook( void )
|
||||
{
|
||||
static unsigned long ulCallCount;
|
||||
const unsigned long ulCallsBetweenSends = 5000 / portTICK_PERIOD_MS;
|
||||
const unsigned long ulMessage = mainPRINT_SYSTEM_STATUS;
|
||||
portBASE_TYPE xDummy;
|
||||
|
||||
/* If configUSE_TICK_HOOK is set to 1 then this function will get called
|
||||
from each RTOS tick. It is called from the tick interrupt and therefore
|
||||
will be executing in the privileged state. */
|
||||
|
||||
ulCallCount++;
|
||||
|
||||
/* Is it time to print out the pass/fail message again? */
|
||||
if( ulCallCount >= ulCallsBetweenSends )
|
||||
{
|
||||
ulCallCount = 0;
|
||||
|
||||
/* Send a message to the check task to command it to check that all
|
||||
the tasks are still running then print out the status.
|
||||
|
||||
This is running in an ISR so has to use the "FromISR" version of
|
||||
xQueueSend(). Because it is in an ISR it is running with privileges
|
||||
so can access xFileScopeCheckQueue directly. */
|
||||
xQueueSendFromISR( xFileScopeCheckQueue, &ulMessage, &xDummy );
|
||||
}
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
|
||||
{
|
||||
/* If configCHECK_FOR_STACK_OVERFLOW is set to either 1 or 2 then this
|
||||
function will automatically get called if a task overflows its stack. */
|
||||
( void ) pxTask;
|
||||
( void ) pcTaskName;
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void vApplicationMallocFailedHook( void )
|
||||
{
|
||||
/* If configUSE_MALLOC_FAILED_HOOK is set to 1 then this function will
|
||||
be called automatically if a call to pvPortMalloc() fails. pvPortMalloc()
|
||||
is called automatically when a task, queue or semaphore is created. */
|
||||
for( ;; );
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void hard_fault_handler(unsigned int * hardfault_args)
|
||||
{
|
||||
volatile unsigned int stacked_r0;
|
||||
volatile unsigned int stacked_r1;
|
||||
volatile unsigned int stacked_r2;
|
||||
volatile unsigned int stacked_r3;
|
||||
volatile unsigned int stacked_r12;
|
||||
volatile unsigned int stacked_lr;
|
||||
volatile unsigned int stacked_pc;
|
||||
volatile unsigned int stacked_psr;
|
||||
|
||||
stacked_r0 = ((unsigned long) hardfault_args[0]);
|
||||
stacked_r1 = ((unsigned long) hardfault_args[1]);
|
||||
stacked_r2 = ((unsigned long) hardfault_args[2]);
|
||||
stacked_r3 = ((unsigned long) hardfault_args[3]);
|
||||
|
||||
stacked_r12 = ((unsigned long) hardfault_args[4]);
|
||||
stacked_lr = ((unsigned long) hardfault_args[5]);
|
||||
stacked_pc = ((unsigned long) hardfault_args[6]);
|
||||
stacked_psr = ((unsigned long) hardfault_args[7]);
|
||||
|
||||
/* Inspect stacked_pc to locate the offending instruction. */
|
||||
for( ;; );
|
||||
|
||||
( void ) stacked_psr;
|
||||
( void ) stacked_pc;
|
||||
( void ) stacked_lr;
|
||||
( void ) stacked_r12;
|
||||
( void ) stacked_r0;
|
||||
( void ) stacked_r1;
|
||||
( void ) stacked_r2;
|
||||
( void ) stacked_r3;
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void HardFault_Handler( void ) __attribute__((naked));
|
||||
void HardFault_Handler( void )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
" tst lr, #4 \n"
|
||||
" ite eq \n"
|
||||
" mrseq r0, msp \n"
|
||||
" mrsne r0, psp \n"
|
||||
" ldr r1, [r0, #24] \n"
|
||||
" ldr r2, handler_address_const \n"
|
||||
" bx r2 \n"
|
||||
" handler_address_const: .word hard_fault_handler \n"
|
||||
);
|
||||
}
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
void MPU_Fault_ISR( void ) __attribute__((naked));
|
||||
void MemManage_Handler( void )
|
||||
{
|
||||
__asm volatile
|
||||
(
|
||||
" tst lr, #4 \n"
|
||||
" ite eq \n"
|
||||
" mrseq r0, msp \n"
|
||||
" mrsne r0, psp \n"
|
||||
" ldr r1, [r0, #24] \n"
|
||||
" ldr r2, handler2_address_const \n"
|
||||
" bx r2 \n"
|
||||
" handler2_address_const: .word hard_fault_handler \n"
|
||||
);
|
||||
}
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
#warning Why must configSUPPORT_STATIC_ALLOCATION be set to 1 when the MPU is used?
|
||||
#warning Linker script is crippled for use with the simulator.
|
Loading…
Reference in New Issue