template < uint_fast8_t sum_shift_bits >
TProfiler<sum_shift_bits>::TProfiler()
    : Counter (   )
    , Result  (   )
{
}

    : Counter (   )
    , Result  (   )

resetVector:
        LDR     pc, =resetHandler       ; Reset                                
        LDR     pc, Undefined_Addr     ; Undefined instructions            
        LDR     pc, SWI_Addr            ; Software interrupt (SWI/SYS)        
        LDR     pc, Prefetch_Addr      ; Prefetch abort                      
        LDR     pc, Abort_Addr          ; Data abort                          
        B       .                              ; RESERVED            
        #ifdef DEBUG
       LDR     pc, =irqHandler    
        #else    
        LDR     PC,[PC,#-0x20]         ;                            
        LDR     pc, FIQ_Addr             ; FIQ


irqHandler:
        STMFD   SP!, {r5,r6,r7}         ;
        LDR     r5, =AT91C_BASE_AIC ;
        LDR     r6, [r5, #AIC_IVR]      ;  
        STR     r5, [r5, #AIC_IVR]      ;Write in the IVR to support Protect Mode
        STR     r6, [SP, #8]               ;
        LDMFD  SP!, {r5,r6,PC}

void TKernel::sched()
{
uint_fast8_t NextPrty = highest_priority(ReadyProcessMap);
if(NextPrty != CurProcPriority)
{
SchedProcPriority = NextPrty;

raise_context_switch();
do // <--------------------------- вот здесь
{
enable_context_switch();
DUMMY_INSTR();
disable_context_switch();
}
while(CurProcPriority != SchedProcPriority); // until context switch done
}
}

OUTPUT_FORMAT ("elf32-littlearm", "elf32-bigarm", "elf32-littlearm")
ENTRY(_start)
SEARCH_DIR(.)
GROUP(-lgcc -lc -lcs3 -lcs3unhosted -lcs3micro)

MEMORY
{
rom (rx) : ORIGIN = 0x10000000, LENGTH = 128K
ram (rwx) : ORIGIN = 0x10008000, LENGTH = 32K
}

/* These force the linker to search for particular symbols from
* the start of the link process and thus ensure the user's
* overrides are picked up
*/
EXTERN(__cs3_reset_cortex_m)
EXTERN(__cs3_interrupt_vector_cortex_m)
EXTERN(__cs3_start_c main __cs3_stack __cs3_stack_size __cs3_heap_end)

PROVIDE(__cs3_stack = __cs3_region_start_ram + __cs3_region_size_ram);
PROVIDE(__cs3_stack_size = __cs3_region_start_ram + __cs3_region_size_ram - _end);
PROVIDE(__cs3_heap_start = _end);
PROVIDE(__cs3_heap_end = __cs3_region_start_ram + __cs3_region_size_ram);

SECTIONS
{
.text :
{
CREATE_OBJECT_SYMBOLS
__cs3_region_start_rom = .;
*(.cs3.region-head.rom)
__cs3_interrupt_vector = __cs3_interrupt_vector_cortex_m;
*(.cs3.interrupt_vector)
/* Make sure we pulled in an interrupt vector. */
ASSERT (. != __cs3_interrupt_vector_cortex_m, "No interrupt vector");
*(.rom)
*(.rom.

__cs3_reset = __cs3_reset_cortex_m;
*(.cs3.reset)
/* Make sure we pulled in some reset code. */
ASSERT (. != __cs3_reset, "No reset code");

*(.text .text.* .gnu.linkonce.t.*)
*(.plt)
*(.gnu.warning)
*(.glue_7t) *(.glue_7) *(.vfp11_veneer)

*(.rodata .rodata.* .gnu.linkonce.r.*)

*(.ARM.extab* .gnu.linkonce.armextab.*)
*(.gcc_except_table)
*(.eh_frame_hdr)
*(.eh_frame)

. = ALIGN(4);
KEEP(*(.init))

. = ALIGN(4);
__preinit_array_start = .;
KEEP (*(.preinit_array))
__preinit_array_end = .;

. = ALIGN(4);
__init_array_start = .;
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array))
__init_array_end = .;

. = ALIGN(0x4);
KEEP (*crtbegin.o(.ctors))
KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
KEEP (*(SORT(.ctors.*)))
KEEP (*crtend.o(.ctors))

. = ALIGN(4);
KEEP(*(.fini))

. = ALIGN(4);
__fini_array_start = .;
KEEP (*(.fini_array))
KEEP (*(SORT(.fini_array.*)))
__fini_array_end = .;

KEEP (*crtbegin.o(.dtors))
KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
KEEP (*(SORT(.dtors.*)))
KEEP (*crtend.o(.dtors))

. = ALIGN(4);
__cs3_regions = .;
LONG (0)
LONG (__cs3_region_init_ram)
LONG (__cs3_region_start_ram)
LONG (__cs3_region_init_size_ram)
LONG (__cs3_region_zero_size_ram)
}

/* .ARM.exidx is sorted, so has to go in its own output section. */
__exidx_start = .;
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} >rom
__exidx_end = .;
.text.align :
{
. = ALIGN(8);
_etext = .;
} >rom
__cs3_region_size_rom = LENGTH(rom);
__cs3_region_num = 1;

.data :
{
__cs3_region_start_ram = .;
*(.cs3.region-head.ram)
KEEP(*(.jcr))
*(.got.plt) *(.got)
*(.shdata)
*(.data .data.* .gnu.linkonce.d.*)
*(.ram)
. = ALIGN (8);
_edata = .;
} >ram AT>rom
.bss :
{
__bss_start__ = .;
*(.shbss)
*(.bss .bss.* .gnu.linkonce.b.*)
*(COMMON)
*(.ram.
. = ALIGN (8);
_end = .;
__end = .;
__bss_end__ = .;
} >ram AT>rom
.heap :
{
*(.heap)
} >ram
.stack (__cs3_stack - __cs3_stack_size) :
{
*(.stack)
} >ram
__cs3_region_init_ram = LOADADDR (.data);
__cs3_region_init_size_ram = _edata - __cs3_region_start_ram;
__cs3_region_zero_size_ram = _end - _edata;
__cs3_region_size_ram = LENGTH(ram);
__cs3_region_num = 1;

.stab 0 (NOLOAD) : { *(.stab) }
.stabstr 0 (NOLOAD) : { *(.stabstr) }
/* 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) }

.note.gnu.arm.ident 0 : { KEEP (*(.note.gnu.arm.ident)) }
.ARM.attributes 0 : { KEEP (*(.ARM.attributes)) }
/DISCARD/ : { *(.note.GNU-stack) }
}

template<> void TIdleProc::exec()
{
for(;;)
{
#if scmRTOS_IDLE_HOOK_ENABLE == 1
idle_process_user_hook(); \\ <------------------заходит сюда и потом падает в HardFault
#endif

#if scmRTOS_TARGET_IDLE_HOOK_ENABLE == 1
idle_process_target_hook();
#endif
}
}

#define scmRTOS_IDLE_PROCESS_STACK_SIZE (100 * sizeof(stack_item_t))