/*
    FreeRTOS V7.6.0 - Copyright (C) 2013 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!
*/

#if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )

        .global _vPortYield
		.extern _vTaskSwitchContext
		.extern uxCriticalNesting

_vPortYield:

		PUSH	SR						/* Save the SR used by the task.... */
		PUSH	W0						/* ....then disable interrupts. */
		MOV		#32, W0
		MOV		W0, SR
		PUSH	W1						/* Save registers to the stack. */
		PUSH.D	W2
		PUSH.D	W4
		PUSH.D	W6
		PUSH.D 	W8
		PUSH.D 	W10
		PUSH.D	W12
		PUSH	W14
		PUSH	RCOUNT
		PUSH	TBLPAG
		PUSH	ACCAL
		PUSH	ACCAH
		PUSH	ACCAU
		PUSH	ACCBL
		PUSH	ACCBH
		PUSH	ACCBU
		PUSH	DCOUNT
		PUSH	DOSTARTL
		PUSH	DOSTARTH
		PUSH	DOENDL
		PUSH	DOENDH


		PUSH	CORCON
		PUSH	PSVPAG
		MOV		_uxCriticalNesting, W0		/* Save the critical nesting counter for the task. */
		PUSH	W0
		MOV		_pxCurrentTCB, W0			/* Save the new top of stack into the TCB. */
		MOV		W15, [W0]

		call 	_vTaskSwitchContext

		MOV		_pxCurrentTCB, W0			/* Restore the stack pointer for the task. */
		MOV		[W0], W15
		POP		W0							/* Restore the critical nesting counter for the task. */
		MOV		W0, _uxCriticalNesting
		POP		PSVPAG
		POP		CORCON
		POP		DOENDH
		POP		DOENDL
		POP		DOSTARTH
		POP		DOSTARTL
		POP		DCOUNT
		POP		ACCBU
		POP		ACCBH
		POP		ACCBL
		POP		ACCAU
		POP		ACCAH
		POP		ACCAL
		POP		TBLPAG
		POP		RCOUNT						/* Restore the registers from the stack. */
		POP		W14
		POP.D	W12
		POP.D	W10
		POP.D	W8
		POP.D	W6
		POP.D	W4
		POP.D	W2
		POP.D	W0
		POP		SR

        return

        .end

#endif /* defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */