| /* | |
| FreeRTOS V8.1.1 - Copyright (C) 2014 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! | |
| */ | |
| #include "FreeRTOSConfig.h" | |
| #define portCONTEXT_SIZE 160 | |
| #define portEPC_STACK_LOCATION 152 | |
| #define portSTATUS_STACK_LOCATION 156 | |
| /******************************************************************/ | |
| .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 | |
| mfc0 k1, _CP0_STATUS | |
| /* Also save s6 and s5 so they can be used. Any nesting interrupts should | |
| maintain the values of these registers across the ISR. */ | |
| 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) | |
| /* 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) | |
| /* Restore the context. */ | |
| 1: 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 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) | |
| 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 | |
| mtc0 k0, _CP0_STATUS | |
| mtc0 k1, _CP0_EPC | |
| ehb | |
| eret | |
| nop | |
| .endm | |