/*
    FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?".  Have you defined configASSERT()?  *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.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                              *
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *   Investing in training allows your team to be as productive as       *
     *   possible as early as possible, lowering your overall development    *
     *   cost, and enabling you to bring a more robust product to market     *
     *   earlier than would otherwise be possible.  Richard Barry is both    *
     *   the architect and key author of FreeRTOS, and so also the world's   *
     *   leading authority on what is the world's most popular real time     *
     *   kernel for deeply embedded MCU designs.  Obtaining your training    *
     *   from Richard ensures your team will gain directly from his in-depth *
     *   product knowledge and years of usage experience.  Contact Real Time *
     *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *
     *   by Richard Barry:  http://www.FreeRTOS.org/contact
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *    You are receiving this top quality software for free.  Please play *
     *    fair and reciprocate by reporting any suspected issues and         *
     *    participating in the community forum:                              *
     *    http://www.FreeRTOS.org/support                                    *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and commercial 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__ ) */