From 9ff79da90185dc0f7076a0d4c9b8d75b8af11250 Mon Sep 17 00:00:00 2001
From: Richard Barry <ribarry@amazon.com>
Date: Sat, 13 Oct 2012 16:21:40 +0000
Subject: [PATCH] First pass at adding R4F floating point support.

---
 FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject   | 129 ++++-----
 .../org.eclipse.core.resources.prefs          |  11 +
 .../Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h |  61 +++--
 FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c      |   1 -
 FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c   |  51 +++-
 .../Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm   | 228 ++++++++++-----
 .../Demo/CORTEX_R4_RM48_CCS5/reg_test.asm     | 259 ++++++++++++++++++
 7 files changed, 571 insertions(+), 169 deletions(-)

diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject
index d62cf321ed..857eea3302 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.cproject
@@ -26,45 +26,45 @@
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+							<builder buildPath="${BuildDirectory}" id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.builderDebug.10592361" keepEnvironmentInBuildfile="false" name="GNU Make" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.builderDebug"/>
+							<tool id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.compilerDebug.1091814429" name="ARM Compiler" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.compilerDebug">
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.CODE_STATE.90735372" name="Designate code state, 16-bit (thumb) or 32-bit (--code_state)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.CODE_STATE" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.CODE_STATE.32" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.SILICON_VERSION.1017275641" name="Target processor version (--silicon_version, -mv)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.SILICON_VERSION" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.SILICON_VERSION.7R4" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.FLOAT_SUPPORT.311679819" name="Specify floating point support (--float_support)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.FLOAT_SUPPORT" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.FLOAT_SUPPORT.VFPv3D16" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ABI.987144696" name="Application binary interface (tiabi, ti_arm9_abi, eabi) (--abi)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ABI" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ABI.eabi" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ENUM_TYPE.533021714" name="Designate enum type (Default is packed for EABI) (--enum_type)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ENUM_TYPE" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.ENUM_TYPE.packed" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.LITTLE_ENDIAN.547652161" name="Little endian code (--little_endian, -me)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.LITTLE_ENDIAN" value="true" valueType="boolean"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.OPT_LEVEL.1159973282" name="Optimization level (--opt_level, -O)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.OPT_LEVEL.3" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DEBUGGING_MODEL.1521598567" name="Debugging model" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DEBUGGING_MODEL" value="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DEBUGGING_MODEL.SYMDEBUG__DWARF" valueType="enumerated"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.INCLUDE_PATH.207319174" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.INCLUDE_PATH" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${CG_TOOL_ROOT}/include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/demo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/os}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/startup}&quot;"/>
+								</option>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DIAG_WARNING.1653100908" name="Treat diagnostic &lt;id&gt; as warning (--diag_warning, -pdsw)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DIAG_WARNING" valueType="stringList">
+									<listOptionValue builtIn="false" value="225"/>
 								</option>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.LITTLE_ENDIAN.411357638" name="Little endian code (--little_endian, -me)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.LITTLE_ENDIAN" value="true" valueType="boolean"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__C_SRCS.1274560082" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__C_SRCS"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__CPP_SRCS.1267997378" name="C++ Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__CPP_SRCS"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM_SRCS.305910033" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM_SRCS"/>
-								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM2_SRCS.1606352786" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM2_SRCS"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DISPLAY_ERROR_NUMBER.1187428873" name="Emit diagnostic identifier numbers (--display_error_number, -pden)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compilerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__C_SRCS.2129245761" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__C_SRCS"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__CPP_SRCS.1546995708" name="C++ Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__CPP_SRCS"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM_SRCS.935376908" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM_SRCS"/>
+								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM2_SRCS.2079096160" name="Assembly Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.compiler.inputType__ASM2_SRCS"/>
 							</tool>
-							<tool id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerRelease.1567342118" name="ARM Linker" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerRelease">
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.OUTPUT_FILE.1993234820" name="Specify output file name (--output_file, -o)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.OUTPUT_FILE" value="&quot;${ProjName}.out&quot;" valueType="string"/>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.MAP_FILE.2106964463" name="Input and output sections listed into &lt;file&gt; (--map_file, -m)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.MAP_FILE" value="&quot;${ProjName}.map&quot;" valueType="string"/>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.DISPLAY_ERROR_NUMBER.1672298509" name="Emit diagnostic identifier numbers (--display_error_number)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.SEARCH_PATH.815216306" name="Add &lt;dir&gt; to library search path (--search_path, -i)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.SEARCH_PATH" valueType="stringList">
+							<tool id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerDebug.2071872550" name="ARM Linker" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerDebug">
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.OUTPUT_FILE.427459274" name="Specify output file name (--output_file, -o)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.OUTPUT_FILE" value="&quot;${ProjName}.out&quot;" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.STACK_SIZE.1308392207" name="Set C system stack size (--stack_size, -stack)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.STACK_SIZE" value="0" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.MAP_FILE.906805746" name="Input and output sections listed into &lt;file&gt; (--map_file, -m)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.MAP_FILE" value="&quot;${ProjName}.map&quot;" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.HEAP_SIZE.885342969" name="Heap size for C/C++ dynamic memory allocation (--heap_size, -heap)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.HEAP_SIZE" value="4096" valueType="string"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.SEARCH_PATH.46804117" name="Add &lt;dir&gt; to library search path (--search_path, -i)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.SEARCH_PATH" valueType="stringList">
 									<listOptionValue builtIn="false" value="&quot;${CG_TOOL_ROOT}/lib&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${CG_TOOL_ROOT}/include&quot;"/>
 								</option>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.LIBRARY.255790447" name="Include library file or command file as input (--library, -l)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.LIBRARY" valueType="libs">
-									<listOptionValue builtIn="false" value="&quot;rtsv7R4_T_le_v3D16_eabi.lib&quot;"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.DISPLAY_ERROR_NUMBER.1957385137" name="Emit diagnostic identifier numbers (--display_error_number)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.LIBRARY.1354746240" name="Include library file or command file as input (--library, -l)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.linkerID.LIBRARY" valueType="libs">
+									<listOptionValue builtIn="false" value="&quot;libc.a&quot;"/>
 								</option>
 							</tool>
 						</toolChain>
 					</folderInfo>
-					<fileInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Release.1557389116.sys_link.cmd" name="sys_link.cmd" rcbsApplicability="disable" resourcePath="sys_link.cmd" toolsToInvoke="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerRelease.1567342118.725136841">
-						<tool id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerRelease.1567342118.725136841" name="ARM Linker" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerRelease.1567342118"/>
-						<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1742732949" name="Resource Custom Build Step">
-							<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.113483468" name="Resource Custom Build Step Input Type">
-								<additionalInput kind="additionalinputdependency" paths=""/>
-							</inputType>
-							<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.223114845" name="Resource Custom Build Step Output Type"/>
-						</tool>
+					<fileInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.580416121.1629342573.sys_link.cmd" name="sys_link.cmd" rcbsApplicability="disable" resourcePath="sys_link.cmd" toolsToInvoke="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerDebug.1153043732">
+						<tool id="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerDebug.1153043732" name="ARM Linker" superClass="com.ti.ccstudio.buildDefinitions.TMS470_4.9.exe.linkerDebug.2071872550"/>
 					</fileInfo>
 					<sourceEntries>
-						<entry excluding="sys_link.cmd" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.settings/org.eclipse.core.resources.prefs b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.settings/org.eclipse.core.resources.prefs
index 7a91b46759..e164ebf77e 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.settings/org.eclipse.core.resources.prefs
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/.settings/org.eclipse.core.resources.prefs
@@ -10,3 +10,14 @@ encoding//Debug/startup/subdir_rules.mk=UTF-8
 encoding//Debug/startup/subdir_vars.mk=UTF-8
 encoding//Debug/subdir_rules.mk=UTF-8
 encoding//Debug/subdir_vars.mk=UTF-8
+encoding//Debug_with_FPU/demo/subdir_rules.mk=UTF-8
+encoding//Debug_with_FPU/demo/subdir_vars.mk=UTF-8
+encoding//Debug_with_FPU/makefile=UTF-8
+encoding//Debug_with_FPU/objects.mk=UTF-8
+encoding//Debug_with_FPU/os/subdir_rules.mk=UTF-8
+encoding//Debug_with_FPU/os/subdir_vars.mk=UTF-8
+encoding//Debug_with_FPU/sources.mk=UTF-8
+encoding//Debug_with_FPU/startup/subdir_rules.mk=UTF-8
+encoding//Debug_with_FPU/startup/subdir_vars.mk=UTF-8
+encoding//Debug_with_FPU/subdir_rules.mk=UTF-8
+encoding//Debug_with_FPU/subdir_vars.mk=UTF-8
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h
index e3d22ae9cb..514b62ed1b 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/FreeRTOSConfig.h
@@ -79,50 +79,53 @@
  * See http://www.freertos.org/a00110.html.
  *----------------------------------------------------------*/
 
-#define configUSE_PREEMPTION		  1
-#define configUSE_IDLE_HOOK			  1
-#define configUSE_TICK_HOOK			  1
-#define configUSE_TRACE_FACILITY	  0
-#define configUSE_16_BIT_TICKS		  0
-#define configCPU_CLOCK_HZ			  ( ( unsigned portLONG ) 90000000 ) /* Timer clock. */
-#define configTICK_RATE_HZ			  ( ( portTickType ) 1000 )
-#define configMAX_PRIORITIES		  ( ( unsigned portBASE_TYPE ) 8 )
-#define configMINIMAL_STACK_SIZE	  ( ( unsigned portSHORT ) 128 )
-#define configTOTAL_HEAP_SIZE		  ( ( size_t ) 32768 )
-#define configMAX_TASK_NAME_LEN		  ( 16 )
-#define configIDLE_SHOULD_YIELD		  1
-#define configGENERATE_RUN_TIME_STATS 0
-#define configUSE_MALLOC_FAILED_HOOK  1
-
-#define configCHECK_FOR_STACK_OVERFLOW 2
+#define configUSE_PREEMPTION			1
+#define configUSE_FPU					1
+#define configUSE_IDLE_HOOK			  	1
+#define configUSE_TICK_HOOK			  	1
+#define configUSE_TRACE_FACILITY	  	0
+#define configUSE_16_BIT_TICKS		  	0
+#define configCPU_CLOCK_HZ			  	( ( unsigned portLONG ) 90000000 ) /* Timer clock. */
+#define configTICK_RATE_HZ			  	( ( portTickType ) 1000 )
+#define configMAX_PRIORITIES		  	( ( unsigned portBASE_TYPE ) 8 )
+#define configMINIMAL_STACK_SIZE	  	( ( unsigned portSHORT ) 128 )
+#define configTOTAL_HEAP_SIZE		  	( ( size_t ) 32768 )
+#define configMAX_TASK_NAME_LEN		  	( 16 )
+#define configIDLE_SHOULD_YIELD		  	1
+#define configGENERATE_RUN_TIME_STATS 	0
+#define configUSE_MALLOC_FAILED_HOOK  	1
+
+#define configCHECK_FOR_STACK_OVERFLOW 	2
 
 /* Co-routine definitions. */
-#define configUSE_CO_ROUTINES 		    0
+#define configUSE_CO_ROUTINES 			0
 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
 
 /* Mutexes */
-#define configUSE_MUTEXES               1
-#define configUSE_RECURSIVE_MUTEXES     1
+#define configUSE_MUTEXES			   	1
+#define configUSE_RECURSIVE_MUTEXES	 	1
 
 /* Semaphores */
 #define configUSE_COUNTING_SEMAPHORES   1
 
 /* Timers */
-#define configUSE_TIMERS                1
+#define configUSE_TIMERS				1
 #define configTIMER_TASK_PRIORITY		( 2 )
 #define configTIMER_QUEUE_LENGTH		10
 #define configTIMER_TASK_STACK_DEPTH	( 128 )
 
 /* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */
-#define INCLUDE_vTaskPrioritySet		    1
-#define INCLUDE_uxTaskPriorityGet		    1
-#define INCLUDE_vTaskDelete				    1
-#define INCLUDE_vTaskCleanUpResources	    0
-#define INCLUDE_vTaskSuspend		     	1
-#define INCLUDE_xTaskResumeFromISR          0
-#define INCLUDE_vTaskDelayUntil			    1
-#define INCLUDE_vTaskDelay				    1
-#define INCLUDE_xTaskGetSchedulerState      1
+#define INCLUDE_vTaskPrioritySet			1
+#define INCLUDE_uxTaskPriorityGet			1
+#define INCLUDE_vTaskDelete					1
+#define INCLUDE_vTaskCleanUpResources		0
+#define INCLUDE_vTaskSuspend			 	1
+#define INCLUDE_xTaskResumeFromISR		  	0
+#define INCLUDE_vTaskDelayUntil				1
+#define INCLUDE_vTaskDelay					1
+#define INCLUDE_xTaskGetSchedulerState	  	1
 #define INCLUDE_uxTaskGetStackHighWaterMark 1
 
+#define configASSERT( x ) if( ( x ) == pdFALSE ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
+
 #endif /* FREERTOS_CONFIG_H */
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c
index fdba8b7d23..6bc7e50a14 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/main.c
@@ -113,7 +113,6 @@ extern void main_full( void );
 
 /* See the documentation page for this demo on the FreeRTOS.org web site for
 full information - including hardware setup requirements. */
-
 int main( void )
 {
 	/* Prepare the hardware to run this demo. */
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c
index 1f72ac4daa..ded485033f 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/port.c
@@ -90,9 +90,9 @@ unsigned portLONG ulCriticalNesting = 9999;
 
 
 /* Constants required to set up the initial stack of each task. */
-#define portINITIAL_SPSR	   ( ( portSTACK_TYPE ) 0x1F )
-#define portINITIAL_FPSCR	  ( ( portSTACK_TYPE ) 0x00 )
-#define portINSTRUCTION_SIZE   ( ( portSTACK_TYPE ) 0x04 )
+#define portINITIAL_SPSR	   	( ( portSTACK_TYPE ) 0x1F )
+#define portINITIAL_FPSCR	  	( ( portSTACK_TYPE ) 0x00 )
+#define portINSTRUCTION_SIZE   	( ( portSTACK_TYPE ) 0x04 )
 #define portTHUMB_MODE_BIT		( ( portSTACK_TYPE ) 0x20 )
 
 /* The number of words on the stack frame between the saved Top Of Stack and
@@ -106,6 +106,12 @@ extern void vPortStartFirstTask( void );
 
 /*-----------------------------------------------------------*/
 
+/* Saved as part of the task context.  Set to pdFALSE if the task does not
+require an FPU context. */
+unsigned long ulTaskHasFPUContext = 0;
+
+/*-----------------------------------------------------------*/
+
 
 /*
  * See header file for description.
@@ -116,6 +122,13 @@ portSTACK_TYPE *pxOriginalTOS;
 
 	pxOriginalTOS = pxTopOfStack;
 
+	#if __TI_VFP_SUPPORT__
+	{
+		/* Ensure the stack is correctly aligned on exit. */
+		pxTopOfStack--;
+	}
+	#endif
+
 	/* Setup the initial stack of the task.  The stack is set exactly as
 	expected by the portRESTORE_CONTEXT() macro. */
 
@@ -167,8 +180,7 @@ portSTACK_TYPE *pxOriginalTOS;
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */
 	pxTopOfStack--;
 
-	/* The last thing onto the stack is the status register, which is set for
-	system mode, with interrupts enabled. */
+	/* Set the status register for system mode, with interrupts enabled. */
 	*pxTopOfStack = ( portSTACK_TYPE ) ( ( _get_CPSR() & ~0xFF ) | portINITIAL_SPSR );
 
 	if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00 )
@@ -177,6 +189,17 @@ portSTACK_TYPE *pxOriginalTOS;
 		*pxTopOfStack |= portTHUMB_MODE_BIT;
 	}
 
+	#ifdef __TI_VFP_SUPPORT__
+	{
+		pxTopOfStack--;
+
+		/* The last thing on the stack is the tasks ulUsingFPU value, which by
+		default is set to indicate that the stack frame does not include FPU
+		registers. */
+		*pxTopOfStack = pdFALSE;
+	}
+	#endif
+
 	return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/
@@ -307,3 +330,21 @@ void vPortExitCritical( void )
 }
 /*-----------------------------------------------------------*/
 
+#if __TI_VFP_SUPPORT__
+
+	void vPortTaskUsesFPU( void )
+	{
+	extern void vPortInitialiseFPSCR( void );
+
+		/* A task is registering the fact that it needs an FPU context.  Set the
+		FPU flag (saved as part of the task context. */
+		ulTaskHasFPUContext = pdTRUE;
+
+		/* Initialise the floating point status register. */
+		vPortInitialiseFPSCR();
+	}
+
+#endif /* __TI_VFP_SUPPORT__ */
+
+/*-----------------------------------------------------------*/
+
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm
index 2805d0279f..522c40cc82 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/os/portASM.asm
@@ -51,117 +51,203 @@
 ;    licensing and training services.
 ;*/
 
-; TCJ:  Using SSI interrupt todo portYIELD_WITHIN_API, means that we do not need
-;       to save ulCriticalNesting in the task context
-
         .text
         .arm
+        .ref vTaskSwitchContext
+        .ref vTaskIncrementTick
+        .ref ulTaskHasFPUContext
+		.ref pxCurrentTCB
 
-;-------------------------------------------------------------------------------
+;/*-----------------------------------------------------------*/
 ;
 ; Save Task Context 
 ;
 portSAVE_CONTEXT .macro
-        stmfd   sp!, {r0}
-        stmfd   sp,  {sp}^
-        sub     sp,  sp, #4
-        ldmfd   sp!, {r0}
-        stmfd   r0!, {lr}
-        mov	    lr,  r0
-        ldmfd   sp!, {r0}
-        stmfd   lr,  {r0-lr}^
-        sub     lr,  lr, #0x3C
-    .if (__TI_VFPV3D16_SUPPORT__)
-        fstmdbd lr!, {d0-d15}
-        mrs	    r0,  spsr
-        fmrx    r1,  fpscr
-        stmfd   lr!, {r0,r1}
-    .else
-        mrs	    r0,  spsr
-        stmfd   lr!, {r0}
-    .endif
-        ldr		r0,  curTCB
-        ldr	    r0,  [r0]
-        str	    lr,  [r0]
-        .endm
+		DSB
 
-;-------------------------------------------------------------------------------
+		; Push R0 as we are going to use it
+		STMDB	SP!, {R0}
+
+		; Set R0 to point to the task stack pointer.
+		STMDB	SP,{SP}^
+		SUB	SP, SP, #4
+		LDMIA	SP!,{R0}
+
+		; Push the return address onto the stack.
+		STMDB	R0!, {LR}
+
+		; Now LR has been saved, it can be used instead of R0.
+		MOV	LR, R0
+
+		; Pop R0 so it can be saved onto the task stack.
+		LDMIA	SP!, {R0}
+
+		; Push all the system mode registers onto the task stack.
+		STMDB	LR,{R0-LR}^
+		SUB	LR, LR, #60
 
+		; Push the SPSR onto the task stack.
+		MRS	R0, SPSR
+		STMDB	LR!, {R0}
+
+    .if (__TI_VFP_SUPPORT__)
+		;Determine if the task maintains an FPU context.
+		LDR	R0, ulFPUContextConst
+		LDR	R0, [R0]
+
+		; Test the flag
+		CMP		R0, #0
+
+		; If the task is not using a floating point context then skip the
+		; saving of the FPU registers.
+		BEQ		PC+3
+		FSTMDBD	LR!, {D0-D15}
+		FMRX    R1,  FPSCR
+		STMFD   LR!, {R1}
+
+		; Save the flag
+		STMDB	LR!, {R0}
+	.endif
+
+		; Store the new top of stack for the task.
+		LDR	R0, pxCurrentTCBConst
+		LDR	R0, [R0]
+		STR	LR, [R0]
+
+        .endm
+
+;/*-----------------------------------------------------------*/
+;
 ; Restore Task Context
 ;
 portRESTORE_CONTEXT .macro
-        ldr		r0,  curTCB
-        ldr		r0,  [r0]
-        ldr		lr,  [r0]
-    .if (__TI_VFPV3D16_SUPPORT__)
-        ldmfd   lr!, {r0,r1}
-        fldmiad lr!, {d0-d15}
-        fmxr    fpscr, r1
-    .else
-        ldmfd   lr!, {r0}
-    .endif
-        msr		spsr_csxf, r0
-        ldmfd	lr, {r0-r14}^
-        ldr		lr, [lr, #0x3C]
-        subs	pc, lr, #4
+		LDR		R0, pxCurrentTCBConst
+		LDR		R0, [R0]
+		LDR		LR, [R0]
+
+	.if (__TI_VFP_SUPPORT__)
+		; The floating point context flag is the first thing on the stack.
+		LDR		R0, ulFPUContextConst
+		LDMFD	LR!, {R1}
+		STR		R1, [R0]
+
+		; Test the flag
+		CMP		R1, #0
+
+		; If the task is not using a floating point context then skip the
+		; VFP register loads.
+		BEQ		PC+3
+
+		; Restore the floating point context.
+		LDMFD   LR!, {R0}
+		FLDMIAD	LR!, {D0-D15}
+		FMXR    FPSCR, R0
+	.endif
+
+		; Get the SPSR from the stack.
+		LDMFD	LR!, {R0}
+		MSR		SPSR_CF, R0
+
+		; Restore all system mode registers for the task.
+		LDMFD	LR, {R0-R14}^
+
+		; Restore the return address.
+		LDR		LR, [LR, #+60]
+
+		; And return - correcting the offset in the LR to obtain the
+		; correct address.
+		SUBS	PC, LR, #4
         .endm
 
-;-------------------------------------------------------------------------------
-; Start First Task
+;/*-----------------------------------------------------------*/
+; Start the first task by restoring its context.
 
         .def vPortStartFirstTask
 
-vPortStartFirstTask
+vPortStartFirstTask:
         portRESTORE_CONTEXT
 
-;-------------------------------------------------------------------------------
-; Yield Processor
+;/*-----------------------------------------------------------*/
+; Yield to another task.
 
         .def vPortYieldProcessor
-        .ref vTaskSwitchContext
 
-vPortYieldProcessor
-        add     lr, lr, #4
+vPortYieldProcessor:
+		; Within an IRQ ISR the link register has an offset from the true return
+		; address.  SWI doesn't do this. Add the offset manually so the ISR
+		; return code can be used.
+        ADD     LR, LR, #4
+
+        ; First save the context of the current task.
         portSAVE_CONTEXT
-        bl      vTaskSwitchContext
+
+        ; Select the next task to execute. */
+        BL      vTaskSwitchContext
+
+        ; Restore the context of the task selected to execute.
         portRESTORE_CONTEXT
 
-;-------------------------------------------------------------------------------
-; Yield Processor From Within FreeRTOS API
+;/*-----------------------------------------------------------*/
+; Yield to another task from within the FreeRTOS API
 
 		.def vPortYeildWithinAPI
 
-vPortYeildWithinAPI
+vPortYeildWithinAPI:
+		; Save the context of the current task.
+
         portSAVE_CONTEXT
-		; clear SSI flag
-		movw    r0, #0xFFF4
-		movt 	r0, #0xFFFF
-		ldr     r0, [r0];
-		; switch task
-        bl      vTaskSwitchContext
+		; Clear SSI flag.
+		MOVW    R0, #0xFFF4
+		MOVT 	R0, #0xFFFF
+		LDR     R0, [R0]
+
+		; Select the next task to execute. */
+        BL      vTaskSwitchContext
+
+        ; Restore the context of the task selected to execute.
         portRESTORE_CONTEXT
 
-;-------------------------------------------------------------------------------
+;/*-----------------------------------------------------------*/
 ; Preemptive Tick
 
         .def vPortPreemptiveTick
-        .ref vTaskIncrementTick
 
-vPortPreemptiveTick
+vPortPreemptiveTick:
+
+		; Save the context of the current task.
         portSAVE_CONTEXT
-        ; clear interrupt flag
-        movw    r0, #0xFC88
-        movt    r0, #0xFFFF
-        mov     r1, #1
-        str     r1, [r0]
-        bl      vTaskIncrementTick
-        bl      vTaskSwitchContext
+
+        ; Clear interrupt flag
+        MOVW    R0, #0xFC88
+        MOVT    R0, #0xFFFF
+        MOV     R1, #1
+        STR     R1, [R0]
+
+        ; Increment the tick count, making any adjustments to the blocked lists
+        ; that may be necessary.
+        BL      vTaskIncrementTick
+
+        ; Select the next task to execute.
+        BL      vTaskSwitchContext
+
+        ; Restore the context of the task selected to execute.
         portRESTORE_CONTEXT
 
 ;-------------------------------------------------------------------------------
 
-		.ref    pxCurrentTCB
-curTCB	.word	pxCurrentTCB
+	.if (__TI_VFP_SUPPORT__)
+
+		.def vPortInitialiseFPSCR
+
+vPortInitialiseFPSCR:
+
+		MOV		R0, #0
+		FMXR    FPSCR, R0
+		BX		LR
+
+	.endif ;__TI_VFP_SUPPORT__
 
+pxCurrentTCBConst	.word	pxCurrentTCB
+ulFPUContextConst 	.word   ulTaskHasFPUContext
 ;-------------------------------------------------------------------------------
 
diff --git a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
index 5e0e583802..d39c09dee5 100644
--- a/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
+++ b/FreeRTOS/Demo/CORTEX_R4_RM48_CCS5/reg_test.asm
@@ -68,10 +68,20 @@
 ;
 		.def	vRegTestTask1
 		.ref	ulRegTest1Counter
+
+		.if (__TI_VFP_SUPPORT__)
+			.ref vPortTaskUsesFPU
+		.endif ;__TI_VFP_SUPPORT__
+
 		.text
 		.arm
 
 vRegTestTask1:
+	.if (__TI_VFP_SUPPORT__)
+		; Let the port layer know that this task needs its FPU context saving.
+		BL		vPortTaskUsesFPU
+	.endif
+
 		; Fill each general purpose register with a known value.
 		mov		r0,  #0xFF
 		mov		r1,  #0x11
@@ -87,12 +97,134 @@ vRegTestTask1:
 		mov     r11, #0xBB
 		mov     r12, #0xCC
 		mov		r14, #0xEE
+
+	.if (__TI_VFP_SUPPORT__)
+		; Fill each FPU register with a known value.
+		vmov 	d0, r0, r1
+		vmov 	d1, r2, r3
+		vmov 	d2, r4, r5
+		vmov 	d3, r6, r7
+		vmov 	d4, r8, r9
+		vmov 	d5, r10, r11
+		vmov 	d6, r0, r1
+		vmov 	d7, r2, r3
+		vmov 	d8, r4, r5
+		vmov 	d9, r6, r7
+		vmov 	d10, r8, r9
+		vmov 	d11, r10, r11
+		vmov 	d12, r0, r1
+		vmov 	d13, r2, r3
+		vmov 	d14, r4, r5
+		vmov 	d15, r6, r7
+	.endif
+
 	
 vRegTestLoop1:
 
 		; Force yeild
 		swi		#0
 
+	.if (__TI_VFP_SUPPORT__)
+		; Check all the VFP registers still contain the values set above.
+		; First save registers that are clobbered by the test.
+		push { r0-r1 }
+
+		vmov 	r0, r1, d0
+		cmp 	r0, #0xFF
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x11
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d1
+		cmp 	r0, #0x22
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x33
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d2
+		cmp 	r0, #0x44
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x55
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d3
+		cmp 	r0, #0x66
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x77
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d4
+		cmp 	r0, #0x88
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x99
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d5
+		cmp 	r0, #0xAA
+		bne 	reg1_error_loopf
+		cmp 	r1, #0xBB
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d6
+		cmp 	r0, #0xFF
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x11
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d7
+		cmp 	r0, #0x22
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x33
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d8
+		cmp 	r0, #0x44
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x55
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d9
+		cmp 	r0, #0x66
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x77
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d10
+		cmp 	r0, #0x88
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x99
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d11
+		cmp 	r0, #0xAA
+		bne 	reg1_error_loopf
+		cmp 	r1, #0xBB
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d12
+		cmp 	r0, #0xFF
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x11
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d13
+		cmp 	r0, #0x22
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x33
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d14
+		cmp 	r0, #0x44
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x55
+		bne 	reg1_error_loopf
+		vmov 	r0, r1, d15
+		cmp 	r0, #0x66
+		bne 	reg1_error_loopf
+		cmp 	r1, #0x77
+		bne 	reg1_error_loopf
+
+		; Restore the registers that were clobbered by the test.
+		pop 	{r0-r1}
+
+		; VFP register test passed.  Jump to the core register test.
+		b 		reg1_loopf_pass
+
+reg1_error_loopf:
+		; If this line is hit then a VFP register value was found to be
+		; incorrect.
+		b reg1_error_loopf
+
+reg1_loopf_pass:
+
+	.endif ;__TI_VFP_SUPPORT__
+
 		; Test each general purpose register to check that it still contains the
 		; expected known value, jumping to vRegTestError1 if any register contains
 		; an unexpected value.
@@ -151,6 +283,11 @@ vRegTestError1:
 		.arm
 ;
 vRegTestTask2:
+	.if (__TI_VFP_SUPPORT__)
+		; Let the port layer know that this task needs its FPU context saving.
+		BL		vPortTaskUsesFPU
+	.endif
+
 		; Fill each general purpose register with a known value.
 		mov		r0,  #0xFF000000
 		mov		r1,  #0x11000000
@@ -167,8 +304,130 @@ vRegTestTask2:
 		mov     r12, #0xCC000000
 		mov     r14, #0xEE000000
 	
+	.if (__TI_VFP_SUPPORT__)
+
+		; Fill each FPU register with a known value.
+		vmov 	d0, r0, r1
+		vmov 	d1, r2, r3
+		vmov 	d2, r4, r5
+		vmov 	d3, r6, r7
+		vmov 	d4, r8, r9
+		vmov 	d5, r10, r11
+		vmov 	d6, r0, r1
+		vmov 	d7, r2, r3
+		vmov 	d8, r4, r5
+		vmov 	d9, r6, r7
+		vmov 	d10, r8, r9
+		vmov 	d11, r10, r11
+		vmov 	d12, r0, r1
+		vmov 	d13, r2, r3
+		vmov 	d14, r4, r5
+		vmov 	d15, r6, r7
+	.endif
+
 vRegTestLoop2:
 
+	.if (__TI_VFP_SUPPORT__)
+		; Check all the VFP registers still contain the values set above.
+		; First save registers that are clobbered by the test.
+		push { r0-r1 }
+
+		vmov r0, r1, d0
+		cmp r0, #0xFF000000
+		bne reg2_error_loopf
+		cmp r1, #0x11000000
+		bne reg2_error_loopf
+		vmov r0, r1, d1
+		cmp r0, #0x22000000
+		bne reg2_error_loopf
+		cmp r1, #0x33000000
+		bne reg2_error_loopf
+		vmov r0, r1, d2
+		cmp r0, #0x44000000
+		bne reg2_error_loopf
+		cmp r1, #0x55000000
+		bne reg2_error_loopf
+		vmov r0, r1, d3
+		cmp r0, #0x66000000
+		bne reg2_error_loopf
+		cmp r1, #0x77000000
+		bne reg2_error_loopf
+		vmov r0, r1, d4
+		cmp r0, #0x88000000
+		bne reg2_error_loopf
+		cmp r1, #0x99000000
+		bne reg2_error_loopf
+		vmov r0, r1, d5
+		cmp r0, #0xAA000000
+		bne reg2_error_loopf
+		cmp r1, #0xBB000000
+		bne reg2_error_loopf
+		vmov r0, r1, d6
+		cmp r0, #0xFF000000
+		bne reg2_error_loopf
+		cmp r1, #0x11000000
+		bne reg2_error_loopf
+		vmov r0, r1, d7
+		cmp r0, #0x22000000
+		bne reg2_error_loopf
+		cmp r1, #0x33000000
+		bne reg2_error_loopf
+		vmov r0, r1, d8
+		cmp r0, #0x44000000
+		bne reg2_error_loopf
+		cmp r1, #0x55000000
+		bne reg2_error_loopf
+		vmov r0, r1, d9
+		cmp r0, #0x66000000
+		bne reg2_error_loopf
+		cmp r1, #0x77000000
+		bne reg2_error_loopf
+		vmov r0, r1, d10
+		cmp r0, #0x88000000
+		bne reg2_error_loopf
+		cmp r1, #0x99000000
+		bne reg2_error_loopf
+		vmov r0, r1, d11
+		cmp r0, #0xAA000000
+		bne reg2_error_loopf
+		cmp r1, #0xBB000000
+		bne reg2_error_loopf
+		vmov r0, r1, d12
+		cmp r0, #0xFF000000
+		bne reg2_error_loopf
+		cmp r1, #0x11000000
+		bne reg2_error_loopf
+		vmov r0, r1, d13
+		cmp r0, #0x22000000
+		bne reg2_error_loopf
+		cmp r1, #0x33000000
+		bne reg2_error_loopf
+		vmov r0, r1, d14
+		cmp r0, #0x44000000
+		bne reg2_error_loopf
+		cmp r1, #0x55000000
+		bne reg2_error_loopf
+		vmov r0, r1, d15
+		cmp r0, #0x66000000
+		bne reg2_error_loopf
+		cmp r1, #0x77000000
+		bne reg2_error_loopf
+
+		; Restore the registers that were clobbered by the test.
+		pop {r0-r1}
+
+		; VFP register test passed.  Jump to the core register test.
+		b reg2_loopf_pass
+
+reg2_error_loopf:
+		; If this line is hit then a VFP register value was found to be
+		; incorrect.
+		b 	reg2_error_loopf
+
+reg2_loopf_pass:
+
+	.endif ;__TI_VFP_SUPPORT__
+
 		; Test each general purpose register to check that it still contains the
 		; expected known value, jumping to vRegTestError2 if any register contains
 		; an unexpected value.