/* | |
FreeRTOS.org V5.3.0 - Copyright (C) 2003-2009 Richard Barry. | |
This file is part of the FreeRTOS.org distribution. | |
FreeRTOS.org 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 exception to the GPL is included to allow you to distribute a | |
combined work that includes FreeRTOS.org without being obliged to provide | |
the source code for any proprietary components. Alternative commercial | |
license and support terms are also available upon request. See the | |
licensing section of http://www.FreeRTOS.org for full details. | |
FreeRTOS.org 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. See the GNU General Public License for | |
more details. | |
You should have received a copy of the GNU General Public License along | |
with FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59 | |
Temple Place, Suite 330, Boston, MA 02111-1307 USA. | |
*************************************************************************** | |
* * | |
* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation * | |
* * | |
* This is a concise, step by step, 'hands on' guide that describes both * | |
* general multitasking concepts and FreeRTOS specifics. It presents and * | |
* explains numerous examples that are written using the FreeRTOS API. * | |
* Full source code for all the examples is provided in an accompanying * | |
* .zip file. * | |
* * | |
*************************************************************************** | |
1 tab == 4 spaces! | |
Please ensure to read the configuration and relevant port sections of the | |
online documentation. | |
http://www.FreeRTOS.org - Documentation, latest information, license and | |
contact details. | |
http://www.SafeRTOS.com - A version that is certified for use in safety | |
critical systems. | |
http://www.OpenRTOS.com - Commercial support, development, porting, | |
licensing and training services. | |
*/ | |
#include "FreeRTOSConfig.h" | |
.extern pxCurrentTCB | |
.extern vTaskSwitchContext | |
.extern vTaskIncrementTick | |
.extern vPortISRHandler | |
.global vPortStartFirstTask | |
.global vPortYield | |
.global vPortTickISR | |
.global vPortISRWrapper | |
.global vPortSaveFPURegisters | |
.global vPortRestoreFPURegisters | |
.set BChainField, 0 | |
.set NextLRField, BChainField + 4 | |
.set MSRField, NextLRField + 4 | |
.set PCField, MSRField + 4 | |
.set LRField, PCField + 4 | |
.set CTRField, LRField + 4 | |
.set XERField, CTRField + 4 | |
.set CRField, XERField + 4 | |
.set USPRG0Field, CRField + 4 | |
.set r0Field, USPRG0Field + 4 | |
.set r2Field, r0Field + 4 | |
.set r3r31Field, r2Field + 4 | |
.set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4 | |
.macro portSAVE_STACK_POINTER_AND_LR | |
/* Get the address of the TCB. */ | |
xor R0, R0, R0 | |
addis R2, R0, pxCurrentTCB@ha | |
lwz R2, pxCurrentTCB@l( R2 ) | |
/* Store the stack pointer into the TCB */ | |
stw SP, 0( R2 ) | |
/* Save the link register */ | |
stwu R1, -24( R1 ) | |
mflr R0 | |
stw R31, 20( R1 ) | |
stw R0, 28( R1 ) | |
mr R31, r1 | |
.endm | |
.macro portRESTORE_STACK_POINTER_AND_LR | |
/* Restore the link register */ | |
lwz R11, 0( R1 ) | |
lwz R0, 4( R11 ) | |
mtlr R0 | |
lwz R31, -4( R11 ) | |
mr R1, R11 | |
/* Get the address of the TCB. */ | |
xor R0, R0, R0 | |
addis SP, R0, pxCurrentTCB@ha | |
lwz SP, pxCurrentTCB@l( R1 ) | |
/* Get the task stack pointer from the TCB. */ | |
lwz SP, 0( SP ) | |
.endm | |
vPortStartFirstTask: | |
/* Get the address of the TCB. */ | |
xor R0, R0, R0 | |
addis SP, R0, pxCurrentTCB@ha | |
lwz SP, pxCurrentTCB@l( SP ) | |
/* Get the task stack pointer from the TCB. */ | |
lwz SP, 0( SP ) | |
/* Restore MSR register to SRR1. */ | |
lwz R0, MSRField(R1) | |
mtsrr1 R0 | |
/* Restore current PC location to SRR0. */ | |
lwz R0, PCField(R1) | |
mtsrr0 R0 | |
/* Save USPRG0 register */ | |
lwz R0, USPRG0Field(R1) | |
mtspr 0x100,R0 | |
/* Restore Condition register */ | |
lwz R0, CRField(R1) | |
mtcr R0 | |
/* Restore Fixed Point Exception register */ | |
lwz R0, XERField(R1) | |
mtxer R0 | |
/* Restore Counter register */ | |
lwz R0, CTRField(R1) | |
mtctr R0 | |
/* Restore Link register */ | |
lwz R0, LRField(R1) | |
mtlr R0 | |
/* Restore remaining GPR registers. */ | |
lmw R3,r3r31Field(R1) | |
/* Restore r0 and r2. */ | |
lwz R0, r0Field(R1) | |
lwz R2, r2Field(R1) | |
/* Remove frame from stack */ | |
addi R1,R1,IFrameSize | |
/* Return into the first task */ | |
rfi | |
vPortYield: | |
portSAVE_STACK_POINTER_AND_LR | |
bl vTaskSwitchContext | |
portRESTORE_STACK_POINTER_AND_LR | |
blr | |
vPortTickISR: | |
portSAVE_STACK_POINTER_AND_LR | |
bl vTaskIncrementTick | |
#if configUSE_PREEMPTION == 1 | |
bl vTaskSwitchContext | |
#endif | |
/* Clear the interrupt */ | |
lis R0, 2048 | |
mttsr R0 | |
portRESTORE_STACK_POINTER_AND_LR | |
blr | |
vPortISRWrapper: | |
portSAVE_STACK_POINTER_AND_LR | |
bl vPortISRHandler | |
portRESTORE_STACK_POINTER_AND_LR | |
blr | |
#if configUSE_FPU == 1 | |
vPortSaveFPURegisters: | |
/* Enable APU and mark FPU as present. */ | |
mfmsr r0 | |
xor r30, r30, r30 | |
oris r30, r30, 512 | |
ori r30, r30, 8192 | |
or r0, r0, r30 | |
mtmsr r0 | |
/* Buffer address is in r3. Save each flop register into an offset from | |
this buffer address. */ | |
stfs f0, 0(r3) | |
stfs f1, 4(r3) | |
stfs f2, 8(r3) | |
stfs f3, 12(r3) | |
stfs f4, 16(r3) | |
stfs f5, 20(r3) | |
stfs f6, 24(r3) | |
stfs f7, 28(r3) | |
stfs f8, 32(r3) | |
stfs f9, 36(r3) | |
stfs f10, 40(r3) | |
stfs f11, 44(r3) | |
stfs f12, 48(r3) | |
stfs f13, 52(r3) | |
stfs f14, 56(r3) | |
stfs f15, 60(r3) | |
stfs f16, 64(r3) | |
stfs f17, 68(r3) | |
stfs f18, 72(r3) | |
stfs f19, 76(r3) | |
stfs f20, 80(r3) | |
stfs f21, 84(r3) | |
stfs f22, 88(r3) | |
stfs f23, 92(r3) | |
stfs f24, 96(r3) | |
stfs f25, 100(r3) | |
stfs f26, 104(r3) | |
stfs f27, 108(r3) | |
stfs f28, 112(r3) | |
stfs f29, 116(r3) | |
stfs f30, 120(r3) | |
stfs f31, 124(r3) | |
/* Also save the FPSCR. */ | |
mffs f31 | |
stfs f31, 128(r3) | |
blr | |
#endif /* configUSE_FPU. */ | |
#if configUSE_FPU == 1 | |
vPortRestoreFPURegisters: | |
/* Enable APU and mark FPU as present. */ | |
mfmsr r0 | |
xor r30, r30, r30 | |
oris r30, r30, 512 | |
ori r30, r30, 8192 | |
or r0, r0, r30 | |
mtmsr r0 | |
/* Buffer address is in r3. Restore each flop register from an offset | |
into this buffer. | |
First the FPSCR. */ | |
lfs f31, 128(r3) | |
mtfsf f31, 7 | |
lfs f0, 0(r3) | |
lfs f1, 4(r3) | |
lfs f2, 8(r3) | |
lfs f3, 12(r3) | |
lfs f4, 16(r3) | |
lfs f5, 20(r3) | |
lfs f6, 24(r3) | |
lfs f7, 28(r3) | |
lfs f8, 32(r3) | |
lfs f9, 36(r3) | |
lfs f10, 40(r3) | |
lfs f11, 44(r3) | |
lfs f12, 48(r3) | |
lfs f13, 52(r3) | |
lfs f14, 56(r3) | |
lfs f15, 60(r3) | |
lfs f16, 64(r3) | |
lfs f17, 68(r3) | |
lfs f18, 72(r3) | |
lfs f19, 76(r3) | |
lfs f20, 80(r3) | |
lfs f21, 84(r3) | |
lfs f22, 88(r3) | |
lfs f23, 92(r3) | |
lfs f24, 96(r3) | |
lfs f25, 100(r3) | |
lfs f26, 104(r3) | |
lfs f27, 108(r3) | |
lfs f28, 112(r3) | |
lfs f29, 116(r3) | |
lfs f30, 120(r3) | |
lfs f31, 124(r3) | |
blr | |
#endif /* configUSE_FPU. */ | |