| /* |
| * FreeRTOS Kernel <DEVELOPMENT BRANCH> |
| * 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 |
| * |
| */ |
| |
| #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__ ) */ |