/*
 * FreeRTOS Kernel V11.0.1
 * 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( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )

        .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    CORCON
        #ifdef __HAS_EDS__
            PUSH    DSRPAG
            PUSH    DSWPAG
        #else
            PUSH    PSVPAG
        #endif /* __HAS_EDS__ */
        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
        #ifdef __HAS_EDS__
            POP     DSWPAG
            POP     DSRPAG
        #else
            POP     PSVPAG
        #endif /* __HAS_EDS__ */
        POP     CORCON
        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( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) */
