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FreeRTOS V7.2.0 - Copyright (C) 2012 Real Time Engineers Ltd.
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* FreeRTOS tutorial books are available in pdf and paperback. *
* Complete, revised, and edited pdf reference manuals are also *
* available. *
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* Purchasing FreeRTOS documentation will not only help you, by *
* ensuring you get running as quickly as possible and with an *
* in-depth knowledge of how to use FreeRTOS, it will also help *
* the FreeRTOS project to continue with its mission of providing *
* professional grade, cross platform, de facto standard solutions *
* for microcontrollers - completely free of charge! *
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* >>> See for details. <<< *
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* Thank you for using FreeRTOS, and thank you for your support! *
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This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
>>>NOTE<<< The modification to the GPL is included to allow you to
distribute a combined work that includes FreeRTOS without being obliged to
provide the source code for proprietary components outside of the FreeRTOS
kernel. FreeRTOS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
more details. You should have received a copy of the GNU General Public
License and the FreeRTOS license exception along with FreeRTOS; if not it
can be viewed here: and also obtained
by writing to Richard Barry, contact details for whom are available on the
FreeRTOS WEB site.
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* Having a problem? Start by reading the FAQ "My application does *
* not run, what could be wrong? *
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*************************************************************************** - Documentation, training, latest information,
license and contact details. - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool.
Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
the code with commercial support, indemnification, and middleware, under
the OpenRTOS brand: High Integrity Systems also
provide a safety engineered and independently SIL3 certified version under
the SafeRTOS brand:
EXTERN vTaskSwitchContext
PUBLIC vPortYieldProcessor
PUBLIC vPortStartFirstTask
#include "ISR_Support.h"
; Starting the first task is just a matter of restoring the context that
; was created by pxPortInitialiseStack().
; Manual context switch function. This is the SWI hander.
ADD LR, LR, #4 ; Add 4 to the LR to make the LR appear exactly
; as if the context was saved during and IRQ
; handler.
portSAVE_CONTEXT ; Save the context of the current task...
LDR R0, =vTaskSwitchContext ; before selecting the next task to execute.
MOV lr, pc
portRESTORE_CONTEXT ; Restore the context of the selected task.