4G04_MCU/rtos/portable/MPLAB/PIC32MX/port_asm.S

/*
 * 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 <xc.h>
#include <sys/asm.h>
#include "ISR_Support.h"


	.set	nomips16
 	.set 	noreorder

 	.extern pxCurrentTCB
 	.extern vTaskSwitchContext
 	.extern vPortIncrementTick
	.extern xISRStackTop

 	.global vPortStartFirstTask
	.global vPortYieldISR
	.global vPortTickInterruptHandler


/******************************************************************/

 	.set		noreorder
	.set 		noat
 	.ent		vPortTickInterruptHandler

vPortTickInterruptHandler:

	portSAVE_CONTEXT

	jal 		vPortIncrementTick
	nop

	portRESTORE_CONTEXT

	.end vPortTickInterruptHandler

/******************************************************************/

 	.set		noreorder
	.set 		noat
 	.ent		vPortStartFirstTask

vPortStartFirstTask:

	/* Simply restore the context of the highest priority task that has been
	created so far. */
	portRESTORE_CONTEXT

	.end vPortStartFirstTask



/*******************************************************************/

	.set		noreorder
	.set 		noat
	.ent		vPortYieldISR

vPortYieldISR:

	/* Make room for the context. First save the current status so it can be
	manipulated. */
	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 re-enabled interrupt above the kernel priority. */
	ins 		k1, zero, 10, 6
	ori			k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 )
	ins			k1, zero, 1, 4

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

	/* Swap to the system stack.  This is not conditional on the nesting
	count as this interrupt is always the lowest priority and therefore
	the nesting is always 0. */
	la			sp, xISRStackTop
	lw			sp, (sp)

	/* Set the nesting count. */
	la			k0, uxInterruptNesting
	addiu		s6, zero, 1
	sw			s6, 0(k0)

	/* s6 holds the EPC value, this is saved with the rest of the context
	after interrupts are enabled. */
	mfc0 		s6, _CP0_EPC

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

	/* Save the context into the space just created.  s6 is saved again
	here as it now contains the EPC value. */
	sw			ra, 120(s5)
	sw			s8, 116(s5)
	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			s7, 48(s5)
	sw			s6, portEPC_STACK_LOCATION(s5)
	/* s5 and s6 has already been saved. */
	sw			s4, 36(s5)
	sw			s3, 32(s5)
	sw			s2, 28(s5)
	sw			s1, 24(s5)
	sw			s0, 20(s5)
	sw			$1, 16(s5)

	/* s7 is used as a scratch register as this should always be saved across
	nesting interrupts. */
	mfhi		s7
	sw			s7, 12(s5)
	mflo		s7
	sw			s7, 8(s5)

	/* Save the stack pointer to the task. */
	la			s7, pxCurrentTCB
	lw			s7, (s7)
	sw			s5, (s7)

	/* Set the interrupt mask to the max priority that can use the API.  The
	yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which
	is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever
	raise the IPL value and never lower it. */
	di
	ehb
	mfc0		s7, _CP0_STATUS
	ins 		s7, zero, 10, 6
	ori			s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1

	/* This mtc0 re-enables interrupts, but only above
	configMAX_SYSCALL_INTERRUPT_PRIORITY. */
	mtc0		s6, _CP0_STATUS
	ehb

	/* Clear the software interrupt in the core. */
	mfc0		s6, _CP0_CAUSE
	ins			s6, zero, 8, 1
	mtc0		s6, _CP0_CAUSE
	ehb

	/* Clear the interrupt in the interrupt controller. */
	la			s6, IFS0CLR
	addiu		s4, zero, 2
	sw			s4, (s6)

	jal			vTaskSwitchContext
	nop

	/* Clear the interrupt mask again.  The saved status value is still in s7. */
	mtc0		s7, _CP0_STATUS
	ehb

	/* Restore the stack pointer from the TCB. */
	la			s0, pxCurrentTCB
	lw			s0, (s0)
	lw			s5, (s0)

	/* Restore the rest of the context. */
	lw			s0, 8(s5)
	mtlo		s0
	lw			s0, 12(s5)
	mthi		s0
	lw			$1, 16(s5)
	lw			s0, 20(s5)
	lw			s1, 24(s5)
	lw			s2, 28(s5)
	lw			s3, 32(s5)
	lw			s4, 36(s5)
	/* s5 is loaded later. */
	lw			s6, 44(s5)
	lw			s7, 48(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

	/* Set nesting back to zero.  As the lowest priority interrupt this
	interrupt cannot have nested. */
	la			k0, uxInterruptNesting
	sw			zero, 0(k0)

	/* Switch back to use the real stack pointer. */
	add			sp, zero, s5

	/* Restore the real s5 value. */
	lw			s5, 40(sp)

	/* Pop the status and epc values. */
	lw			k1, portSTATUS_STACK_LOCATION(sp)
	lw			k0, portEPC_STACK_LOCATION(sp)

	/* Remove stack frame. */
	addiu		sp, sp, portCONTEXT_SIZE

	mtc0		k1, _CP0_STATUS
	mtc0 		k0, _CP0_EPC
	ehb
	eret
	nop

	.end		vPortYieldISR