/* | |
FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. | |
All rights reserved | |
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
*************************************************************************** | |
* * | |
* FreeRTOS provides completely free yet professionally developed, * | |
* robust, strictly quality controlled, supported, and cross * | |
* platform software that has become a de facto standard. * | |
* * | |
* Help yourself get started quickly and support the FreeRTOS * | |
* project by purchasing a FreeRTOS tutorial book, reference * | |
* manual, or both from: http://www.FreeRTOS.org/Documentation * | |
* * | |
* Thank you! * | |
* * | |
*************************************************************************** | |
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 from the following | |
link: http://www.freertos.org/a00114.html | |
1 tab == 4 spaces! | |
*************************************************************************** | |
* * | |
* Having a problem? Start by reading the FAQ "My application does * | |
* not run, what could be wrong?" * | |
* * | |
* http://www.FreeRTOS.org/FAQHelp.html * | |
* * | |
*************************************************************************** | |
http://www.FreeRTOS.org - Documentation, books, training, latest versions, | |
license and Real Time Engineers Ltd. contact details. | |
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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High | |
Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS | |
licenses offer ticketed support, indemnification and 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! | |
*/ | |
.extern pxCurrentTCB | |
.extern vTaskISRHandler | |
.extern vTaskSwitchContext | |
.extern uxCriticalNesting | |
.extern pulISRStack | |
.global __FreeRTOS_interrupt_handler | |
.global VPortYieldASM | |
.global vStartFirstTask | |
.macro portSAVE_CONTEXT | |
/* Make room for the context on the stack. */ | |
addik r1, r1, -132 | |
/* Save r31 so it can then be used. */ | |
swi r31, r1, 4 | |
/* Copy the msr into r31 - this is stacked later. */ | |
mfs r31, rmsr | |
/* Stack general registers. */ | |
swi r30, r1, 12 | |
swi r29, r1, 16 | |
swi r28, r1, 20 | |
swi r27, r1, 24 | |
swi r26, r1, 28 | |
swi r25, r1, 32 | |
swi r24, r1, 36 | |
swi r23, r1, 40 | |
swi r22, r1, 44 | |
swi r21, r1, 48 | |
swi r20, r1, 52 | |
swi r19, r1, 56 | |
swi r18, r1, 60 | |
swi r17, r1, 64 | |
swi r16, r1, 68 | |
swi r15, r1, 72 | |
swi r13, r1, 80 | |
swi r12, r1, 84 | |
swi r11, r1, 88 | |
swi r10, r1, 92 | |
swi r9, r1, 96 | |
swi r8, r1, 100 | |
swi r7, r1, 104 | |
swi r6, r1, 108 | |
swi r5, r1, 112 | |
swi r4, r1, 116 | |
swi r3, r1, 120 | |
swi r2, r1, 124 | |
/* Stack the critical section nesting value. */ | |
lwi r3, r0, uxCriticalNesting | |
swi r3, r1, 128 | |
/* Save the top of stack value to the TCB. */ | |
lwi r3, r0, pxCurrentTCB | |
sw r1, r0, r3 | |
.endm | |
.macro portRESTORE_CONTEXT | |
/* Load the top of stack value from the TCB. */ | |
lwi r3, r0, pxCurrentTCB | |
lw r1, r0, r3 | |
/* Restore the general registers. */ | |
lwi r31, r1, 4 | |
lwi r30, r1, 12 | |
lwi r29, r1, 16 | |
lwi r28, r1, 20 | |
lwi r27, r1, 24 | |
lwi r26, r1, 28 | |
lwi r25, r1, 32 | |
lwi r24, r1, 36 | |
lwi r23, r1, 40 | |
lwi r22, r1, 44 | |
lwi r21, r1, 48 | |
lwi r20, r1, 52 | |
lwi r19, r1, 56 | |
lwi r18, r1, 60 | |
lwi r17, r1, 64 | |
lwi r16, r1, 68 | |
lwi r15, r1, 72 | |
lwi r14, r1, 76 | |
lwi r13, r1, 80 | |
lwi r12, r1, 84 | |
lwi r11, r1, 88 | |
lwi r10, r1, 92 | |
lwi r9, r1, 96 | |
lwi r8, r1, 100 | |
lwi r7, r1, 104 | |
lwi r6, r1, 108 | |
lwi r5, r1, 112 | |
lwi r4, r1, 116 | |
lwi r2, r1, 124 | |
/* Load the critical nesting value. */ | |
lwi r3, r1, 128 | |
swi r3, r0, uxCriticalNesting | |
/* Obtain the MSR value from the stack. */ | |
lwi r3, r1, 8 | |
/* Are interrupts enabled in the MSR? If so return using an return from | |
interrupt instruction to ensure interrupts are enabled only once the task | |
is running again. */ | |
andi r3, r3, 2 | |
beqid r3, 36 | |
or r0, r0, r0 | |
/* Reload the rmsr from the stack, clear the enable interrupt bit in the | |
value before saving back to rmsr register, then return enabling interrupts | |
as we return. */ | |
lwi r3, r1, 8 | |
andi r3, r3, ~2 | |
mts rmsr, r3 | |
lwi r3, r1, 120 | |
addik r1, r1, 132 | |
rtid r14, 0 | |
or r0, r0, r0 | |
/* Reload the rmsr from the stack, place it in the rmsr register, and | |
return without enabling interrupts. */ | |
lwi r3, r1, 8 | |
mts rmsr, r3 | |
lwi r3, r1, 120 | |
addik r1, r1, 132 | |
rtsd r14, 0 | |
or r0, r0, r0 | |
.endm | |
.text | |
.align 2 | |
__FreeRTOS_interrupt_handler: | |
portSAVE_CONTEXT | |
/* Entered via an interrupt so interrupts must be enabled in msr. */ | |
ori r31, r31, 2 | |
/* Stack msr. */ | |
swi r31, r1, 8 | |
/* Stack the return address. As we entered via an interrupt we do | |
not need to modify the return address prior to stacking. */ | |
swi r14, r1, 76 | |
/* Now switch to use the ISR stack. */ | |
lwi r3, r0, pulISRStack | |
add r1, r3, r0 | |
bralid r15, vTaskISRHandler | |
or r0, r0, r0 | |
portRESTORE_CONTEXT | |
VPortYieldASM: | |
portSAVE_CONTEXT | |
/* Stack msr. */ | |
swi r31, r1, 8 | |
/* Modify the return address so we return to the instruction after the | |
exception. */ | |
addi r14, r14, 8 | |
swi r14, r1, 76 | |
/* Now switch to use the ISR stack. */ | |
lwi r3, r0, pulISRStack | |
add r1, r3, r0 | |
bralid r15, vTaskSwitchContext | |
or r0, r0, r0 | |
portRESTORE_CONTEXT | |
vStartFirstTask: | |
portRESTORE_CONTEXT | |