4G04_MCU/rtos/portable/MPLAB/PIC32MEC14xx/ISR_Support.h

/*
 * FreeRTOS Kernel V10.4.6
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

#include "FreeRTOSConfig.h"

#define portCONTEXT_SIZE 132
#define portEPC_STACK_LOCATION 124
#define portSTATUS_STACK_LOCATION 128

#ifdef __LANGUAGE_ASSEMBLY__

/******************************************************************/
.macro	portSAVE_CONTEXT

	/* Make room for the context. First save the current status so it can be
	manipulated, and the cause and EPC registers so their original values are
	captured. */
	mfc0	k0, _CP0_CAUSE
	addiu	sp, sp, -portCONTEXT_SIZE
	mfc0	k1, _CP0_STATUS

	/* Also save s6 and s5 so they can be used.  Any nesting interrupts should
	maintain the values of these registers across the ISR. */
	sw		s6, 44(sp)
	sw		s5, 40(sp)
	sw		k1, portSTATUS_STACK_LOCATION(sp)

	/* Prepare to enable interrupts above the current priority.
	k0 = k0 >> 10. Moves RIPL[17:10] to [7:0] */
	srl		k0, k0, 0xa

	/* Insert bit field. 7 bits k0[6:0] to k1[16:10] */
	ins		k1, k0, 10, 7

	/* Sets CP0.Status.IPL = CP0.Cause.RIPL
	Copy the MSB of the IPL, but it would be an error if it was set anyway. */
	srl		k0, k0, 0x7

	/* MSB of IPL is bit[18] of CP0.Status */
	ins		k1, k0, 18, 1

	/* CP0.Status[5:1] = 0 b[5]=Rsvd, b[4]=UM,
	   b[3]=Rsvd, b[2]=ERL, b[1]=EXL
	   Setting EXL=0 allows higher priority interrupts
	   to preempt this handler */
	ins		k1, zero, 1, 4


	/* s5 is used as the frame pointer. */
	add		s5, zero, sp

	/* Check the nesting count value. */
	la		k0, uxInterruptNesting
	lw		s6, (k0)

	/* If the nesting count is 0 then swap to the the system stack, otherwise
	the system stack is already being used. */
	bne		s6, zero, 1f
	nop

	/* Swap to the system stack. */
	la		sp, xISRStackTop
	lw		sp, (sp)

	/* Increment and save the nesting count. */
1:  addiu   s6, s6, 1
	sw		s6, 0(k0)

	/* s6 holds the EPC value, this is saved after interrupts are re-enabled. */
	mfc0	s6, _CP0_EPC

	/* Re-enable interrupts. */
	mtc0	k1, _CP0_STATUS

	/* Save the context into the space just created.  s6 is saved again
	here as it now contains the EPC value.  No other s registers need be
	saved. */
	sw		ra, 120(s5) /* Return address (RA=R31) */
	sw		s8, 116(s5) /* Frame Pointer (FP=R30) */
	sw		t9, 112(s5)
	sw		t8, 108(s5)
	sw		t7, 104(s5)
	sw		t6, 100(s5)
	sw		t5, 96(s5)
	sw		t4, 92(s5)
	sw		t3, 88(s5)
	sw		t2, 84(s5)
	sw		t1, 80(s5)
	sw		t0, 76(s5)
	sw		a3, 72(s5)
	sw		a2, 68(s5)
	sw		a1, 64(s5)
	sw		a0, 60(s5)
	sw		v1, 56(s5)
	sw		v0, 52(s5)
	sw		s6, portEPC_STACK_LOCATION(s5)
	sw		$1, 16(s5)

	/* MEC14xx does not have DSP, removed 7 words */
	mfhi	s6
	sw		s6, 12(s5)
	mflo	s6
	sw		s6, 8(s5)

	/* Update the task stack pointer value if nesting is zero. */
	la		s6, uxInterruptNesting
	lw		s6, (s6)
	addiu	s6, s6, -1
	bne		s6, zero, 1f
	nop

	/* Save the stack pointer. */
	la		s6, uxSavedTaskStackPointer
	sw		s5, (s6)
1:
	.endm

/******************************************************************/
.macro	portRESTORE_CONTEXT

	/* Restore the stack pointer from the TCB.  This is only done if the
	nesting count is 1. */
	la		s6, uxInterruptNesting
	lw		s6, (s6)
	addiu   s6, s6, -1
	bne		s6, zero, 1f
	nop
	la		s6, uxSavedTaskStackPointer
	lw		s5, (s6)

	/* Restore the context.
	MCHP MEC14xx does not include DSP */
1:
	lw		s6, 8(s5)
	mtlo	s6
	lw		s6, 12(s5)
	mthi	s6
	lw		$1, 16(s5)

	/* s6 is loaded as it was used as a scratch register and therefore saved
	as part of the interrupt context. */
	lw		s6, 44(s5)
	lw		v0, 52(s5)
	lw		v1, 56(s5)
	lw		a0, 60(s5)
	lw		a1, 64(s5)
	lw		a2, 68(s5)
	lw		a3, 72(s5)
	lw		t0, 76(s5)
	lw		t1, 80(s5)
	lw		t2, 84(s5)
	lw		t3, 88(s5)
	lw		t4, 92(s5)
	lw		t5, 96(s5)
	lw		t6, 100(s5)
	lw		t7, 104(s5)
	lw		t8, 108(s5)
	lw		t9, 112(s5)
	lw		s8, 116(s5)
	lw		ra, 120(s5)

	/* Protect access to the k registers, and others. */
	di
	ehb

	/* Decrement the nesting count. */
	la		k0, uxInterruptNesting
	lw		k1, (k0)
	addiu	k1, k1, -1
	sw		k1, 0(k0)

	lw		k0, portSTATUS_STACK_LOCATION(s5)
	lw		k1, portEPC_STACK_LOCATION(s5)

	/* Leave the stack in its original state.  First load sp from s5, then
	restore s5 from the stack. */
	add		sp, zero, s5
	lw		s5, 40(sp)
	addiu   sp, sp, portCONTEXT_SIZE

	mtc0	k0, _CP0_STATUS
	mtc0	k1, _CP0_EPC
	ehb
	eret
	nop

	.endm

#endif /* #ifdef __LANGUAGE_ASSEMBLY__ */