| /* | |
| FreeRTOS V8.2.2 - Copyright (C) 2015 Real Time Engineers Ltd. | |
| All rights reserved | |
| VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. | |
| 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 on the following | |
| link: http://www.freertos.org/a00114.html | |
| *************************************************************************** | |
| * * | |
| * FreeRTOS provides completely free yet professionally developed, * | |
| * robust, strictly quality controlled, supported, and cross * | |
| * platform software that is more than just the market leader, it * | |
| * is the industry's de facto standard. * | |
| * * | |
| * Help yourself get started quickly while simultaneously helping * | |
| * to support the FreeRTOS project by purchasing a FreeRTOS * | |
| * tutorial book, reference manual, or both: * | |
| * http://www.FreeRTOS.org/Documentation * | |
| * * | |
| *************************************************************************** | |
| http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading | |
| the FAQ page "My application does not run, what could be wrong?". Have you | |
| defined configASSERT()? | |
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| participating in the support forum. | |
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| http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High | |
| Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS | |
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| engineered and independently SIL3 certified version for use in safety and | |
| mission critical applications that require provable dependability. | |
| 1 tab == 4 spaces! | |
| */ | |
| #include "FreeRTOSConfig.h" | |
| #define portCONTEXT_SIZE 160 | |
| #define portEPC_STACK_LOCATION 152 | |
| #define portSTATUS_STACK_LOCATION 156 | |
| #define portFPCSR_STACK_LOCATION 0 | |
| #define portTASK_HAS_FPU_STACK_LOCATION 0 | |
| #define portFPU_CONTEXT_SIZE 264 | |
| /******************************************************************/ | |
| .macro portSAVE_FPU_REGS offset, base | |
| /* Macro to assist with saving just the FPU registers to the | |
| * specified address and base offset, | |
| * offset is a constant, base is the base pointer register */ | |
| sdc1 $f31, \offset + 248(\base) | |
| sdc1 $f30, \offset + 240(\base) | |
| sdc1 $f29, \offset + 232(\base) | |
| sdc1 $f28, \offset + 224(\base) | |
| sdc1 $f27, \offset + 216(\base) | |
| sdc1 $f26, \offset + 208(\base) | |
| sdc1 $f25, \offset + 200(\base) | |
| sdc1 $f24, \offset + 192(\base) | |
| sdc1 $f23, \offset + 184(\base) | |
| sdc1 $f22, \offset + 176(\base) | |
| sdc1 $f21, \offset + 168(\base) | |
| sdc1 $f20, \offset + 160(\base) | |
| sdc1 $f19, \offset + 152(\base) | |
| sdc1 $f18, \offset + 144(\base) | |
| sdc1 $f17, \offset + 136(\base) | |
| sdc1 $f16, \offset + 128(\base) | |
| sdc1 $f15, \offset + 120(\base) | |
| sdc1 $f14, \offset + 112(\base) | |
| sdc1 $f13, \offset + 104(\base) | |
| sdc1 $f12, \offset + 96(\base) | |
| sdc1 $f11, \offset + 88(\base) | |
| sdc1 $f10, \offset + 80(\base) | |
| sdc1 $f9, \offset + 72(\base) | |
| sdc1 $f8, \offset + 64(\base) | |
| sdc1 $f7, \offset + 56(\base) | |
| sdc1 $f6, \offset + 48(\base) | |
| sdc1 $f5, \offset + 40(\base) | |
| sdc1 $f4, \offset + 32(\base) | |
| sdc1 $f3, \offset + 24(\base) | |
| sdc1 $f2, \offset + 16(\base) | |
| sdc1 $f1, \offset + 8(\base) | |
| sdc1 $f0, \offset + 0(\base) | |
| .endm | |
| /******************************************************************/ | |
| .macro portLOAD_FPU_REGS offset, base | |
| /* Macro to assist with loading just the FPU registers from the | |
| * specified address and base offset, offset is a constant, | |
| * base is the base pointer register */ | |
| ldc1 $f0, \offset + 0(\base) | |
| ldc1 $f1, \offset + 8(\base) | |
| ldc1 $f2, \offset + 16(\base) | |
| ldc1 $f3, \offset + 24(\base) | |
| ldc1 $f4, \offset + 32(\base) | |
| ldc1 $f5, \offset + 40(\base) | |
| ldc1 $f6, \offset + 48(\base) | |
| ldc1 $f7, \offset + 56(\base) | |
| ldc1 $f8, \offset + 64(\base) | |
| ldc1 $f9, \offset + 72(\base) | |
| ldc1 $f10, \offset + 80(\base) | |
| ldc1 $f11, \offset + 88(\base) | |
| ldc1 $f12, \offset + 96(\base) | |
| ldc1 $f13, \offset + 104(\base) | |
| ldc1 $f14, \offset + 112(\base) | |
| ldc1 $f15, \offset + 120(\base) | |
| ldc1 $f16, \offset + 128(\base) | |
| ldc1 $f17, \offset + 136(\base) | |
| ldc1 $f18, \offset + 144(\base) | |
| ldc1 $f19, \offset + 152(\base) | |
| ldc1 $f20, \offset + 160(\base) | |
| ldc1 $f21, \offset + 168(\base) | |
| ldc1 $f22, \offset + 176(\base) | |
| ldc1 $f23, \offset + 184(\base) | |
| ldc1 $f24, \offset + 192(\base) | |
| ldc1 $f25, \offset + 200(\base) | |
| ldc1 $f26, \offset + 208(\base) | |
| ldc1 $f27, \offset + 216(\base) | |
| ldc1 $f28, \offset + 224(\base) | |
| ldc1 $f29, \offset + 232(\base) | |
| ldc1 $f30, \offset + 240(\base) | |
| ldc1 $f31, \offset + 248(\base) | |
| .endm | |
| /******************************************************************/ | |
| .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 | |
| #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) | |
| /* Test if we are already using the system stack. Only tasks may use the | |
| FPU so if we are already in a nested interrupt then the FPU context does | |
| not require saving. */ | |
| la k1, uxInterruptNesting | |
| lw k1, 0(k1) | |
| bne k1, zero, 2f | |
| nop | |
| /* Test if the current task needs the FPU context saving. */ | |
| la k1, ulTaskHasFPUContext | |
| lw k1, 0(k1) | |
| beq k1, zero, 1f | |
| nop | |
| /* Adjust the stack to account for the additional FPU context.*/ | |
| addiu sp, sp, -portFPU_CONTEXT_SIZE | |
| 1: | |
| /* Save the ulTaskHasFPUContext flag. */ | |
| sw k1, portTASK_HAS_FPU_STACK_LOCATION(sp) | |
| 2: | |
| #endif | |
| mfc0 k1, _CP0_STATUS | |
| /* Also save s7, s6 and s5 so they can be used. Any nesting interrupts | |
| should maintain the values of these registers across the ISR. */ | |
| sw s7, 48(sp) | |
| sw s6, 44(sp) | |
| sw s5, 40(sp) | |
| sw k1, portSTATUS_STACK_LOCATION(sp) | |
| /* Prepare to enable interrupts above the current priority. */ | |
| srl k0, k0, 0xa | |
| ins k1, k0, 10, 7 | |
| srl k0, k0, 0x7 /* This copies the MSB of the IPL, but it would be an error if it was set anyway. */ | |
| ins k1, k0, 18, 1 | |
| 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) | |
| 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 s6, portEPC_STACK_LOCATION(s5) | |
| sw $1, 16(s5) | |
| /* Save the AC0, AC1, AC2, AC3 registers from the DSP. s6 is used as a | |
| scratch register. */ | |
| mfhi s6, $ac1 | |
| sw s6, 128(s5) | |
| mflo s6, $ac1 | |
| sw s6, 124(s5) | |
| mfhi s6, $ac2 | |
| sw s6, 136(s5) | |
| mflo s6, $ac2 | |
| sw s6, 132(s5) | |
| mfhi s6, $ac3 | |
| sw s6, 144(s5) | |
| mflo s6, $ac3 | |
| sw s6, 140(s5) | |
| /* Save the DSP Control register */ | |
| rddsp s6 | |
| sw s6, 148(s5) | |
| /* ac0 is done separately to match the MX port. */ | |
| mfhi s6, $ac0 | |
| sw s6, 12(s5) | |
| mflo s6, $ac0 | |
| sw s6, 8(s5) | |
| /* Save the FPU context if the nesting count was zero. */ | |
| #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) | |
| la s6, uxInterruptNesting | |
| lw s6, 0(s6) | |
| addiu s6, s6, -1 | |
| bne s6, zero, 1f | |
| nop | |
| /* Test if the current task needs the FPU context saving. */ | |
| lw s6, portTASK_HAS_FPU_STACK_LOCATION(s5) | |
| beq s6, zero, 1f | |
| nop | |
| /* Save the FPU registers. */ | |
| portSAVE_FPU_REGS ( portCONTEXT_SIZE + 8 ), s5 | |
| /* Save the FPU status register */ | |
| cfc1 s6, $f31 | |
| sw s6, (portCONTEXT_SIZE + portFPCSR_STACK_LOCATION)(s5) | |
| 1: | |
| #endif | |
| /* 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) | |
| #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) | |
| /* Restore the FPU context if required. */ | |
| lw s6, portTASK_HAS_FPU_STACK_LOCATION(s5) | |
| beq s6, zero, 1f | |
| nop | |
| /* Restore the FPU registers. */ | |
| portLOAD_FPU_REGS ( portCONTEXT_SIZE + 8 ), s5 | |
| /* Restore the FPU status register. */ | |
| lw s6, ( portCONTEXT_SIZE + portFPCSR_STACK_LOCATION )(s5) | |
| ctc1 s6, $f31 | |
| #endif | |
| 1: | |
| /* Restore the context. */ | |
| lw s6, 128(s5) | |
| mthi s6, $ac1 | |
| lw s6, 124(s5) | |
| mtlo s6, $ac1 | |
| lw s6, 136(s5) | |
| mthi s6, $ac2 | |
| lw s6, 132(s5) | |
| mtlo s6, $ac2 | |
| lw s6, 144(s5) | |
| mthi s6, $ac3 | |
| lw s6, 140(s5) | |
| mtlo s6, $ac3 | |
| /* Restore DSPControl. */ | |
| lw s6, 148(s5) | |
| wrdsp s6 | |
| lw s6, 8(s5) | |
| mtlo s6, $ac0 | |
| lw s6, 12(s5) | |
| mthi s6, $ac0 | |
| 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 s7, 48(s5) | |
| 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) | |
| #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) | |
| /* If the nesting count is now zero then the FPU context may be restored. */ | |
| bne k1, zero, 1f | |
| nop | |
| /* Restore the value of ulTaskHasFPUContext */ | |
| la k0, ulTaskHasFPUContext | |
| lw k1, 0(s5) | |
| sw k1, 0(k0) | |
| /* If the task does not have an FPU context then adjust the stack normally. */ | |
| beq k1, zero, 1f | |
| nop | |
| /* Restore the STATUS and EPC registers */ | |
| 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) | |
| /* Adjust the stack pointer to remove the FPU context */ | |
| addiu sp, sp, portFPU_CONTEXT_SIZE | |
| beq zero, zero, 2f | |
| nop | |
| 1: /* Restore the STATUS and EPC registers */ | |
| 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) | |
| 2: /* Adjust the stack pointer */ | |
| addiu sp, sp, portCONTEXT_SIZE | |
| #else | |
| /* Restore the frame when there is no hardware FP support. */ | |
| 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 | |
| #endif // ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 ) | |
| mtc0 k0, _CP0_STATUS | |
| mtc0 k1, _CP0_EPC | |
| ehb | |
| eret | |
| nop | |
| .endm | |