port_asm.S (revision ef7b253b56c9788077f5ecd6c9deb4021923d646) - OpenGrok cross reference for /Kernel-v10.6.2/portable/MPLAB/PIC32MEC14xx/port_asm.S

/*
 * FreeRTOS Kernel V10.6.2
 * 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
 *
 */

/* FreeRTOS includes. */
#include "FreeRTOSConfig.h"
#include "ISR_Support.h"

/* Microchip includes. */
#include <xc.h>
#include <sys/asm.h>

    .extern pxCurrentTCB
    .extern vTaskSwitchContext
    .extern vPortIncrementTick
    .extern xISRStackTop

    PORT_CPP_JTVIC_BASE = 0xBFFFC000
    PORT_CCP_JTVIC_GIRQ24_SRC = 0xBFFFC100

    .global vPortStartFirstTask .text
    .global vPortYieldISR .text
    .global vPortTickInterruptHandler .text


/******************************************************************/


/***************************************************************
*  The following is needed to locate the
*  vPortTickInterruptHandler function into the correct vector
*  MEC14xx - This ISR will only be used if HW timers' interrupts
*  in GIRQ23 are disaggregated.
*
***************************************************************/

    .set  noreorder
    .set  noat
    .set  micromips

    .section .text, code
    .ent    vPortTickInterruptHandler

#if configTIMERS_DISAGGREGATED_ISRS == 0

    .globl girq23_isr

girq23_isr:
vPortTickInterruptHandler:

    portSAVE_CONTEXT

    jal     girq23_handler
    nop

    portRESTORE_CONTEXT

.end vPortTickInterruptHandler

#else

    .globl girq23_b4

girq23_b4:
vPortTickInterruptHandler:

    portSAVE_CONTEXT

    jal     vPortIncrementTick
    nop

    portRESTORE_CONTEXT

.end vPortTickInterruptHandler

#endif /* #if configTIMERS_DISAGGREGATED_ISRS == 0 */

/******************************************************************/

    .set    micromips
    .set    noreorder
    .set    noat

    .section .text, code
    .ent    vPortStartFirstTask

vPortStartFirstTask:

    /* Simply restore the context of the highest priority task that has
    been created so far. */
    portRESTORE_CONTEXT

.end vPortStartFirstTask


/*******************************************************************/

/***************************************************************
*  The following is needed to locate the vPortYieldISR function into the correct
* vector.
***************************************************************/

    .set micromips
    .set noreorder
    .set noat

    .section .text, code

    .global vPortYieldISR


#if configCPU_DISAGGREGATED_ISRS == 0
    .global girq24_isr
    .ent girq24_isr
girq24_isr:
    la      k0, PORT_CPP_JTVIC_BASE
    lw      k0, 0x10C(k0)
    andi    k1, k0, 0x2
    bgtz    k1, vPortYieldISR
    nop

    portSAVE_CONTEXT

    jal     girq24_b_0_2

    portRESTORE_CONTEXT

    .end girq24_isr

#else
    .global girq24_b1
girq24_b1:
#endif
        .ent  vPortYieldISR
vPortYieldISR:

    /* Make room for the context. First save the current status so it can be
    manipulated, and the cause and EPC registers so thier original values
    are captured. */
    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 re-enable interrupts above the kernel priority. */
    ins     k1, zero, 10, 7      /* Clear IPL bits 0:6. */
    ins     k1, zero, 18, 1      /* Clear IPL bit 7  */
    ori     k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 )
    ins     k1, zero, 1, 4        /* Clear EXL, ERL and UM. */

    /* s5 is used as the frame pointer. */
    add     s5, zero, sp

    /* Swap to the system stack.  This is not conditional on the nesting
    count as this interrupt is always the lowest priority and therefore
    the nesting is always 0. */
    la      sp, xISRStackTop
    lw      sp, (sp)

    /* Set the nesting count. */
    la      k0, uxInterruptNesting
    addiu   s6, zero, 1
    sw      s6, 0(k0)

    /* s6 holds the EPC value, this is saved with the rest of the context
    after interrupts are enabled. */
    mfc0    s6, _CP0_EPC

    /* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */
    mtc0    k1, _CP0_STATUS

    /* Save the context into the space just created.  s6 is saved again
    here as it now contains the EPC value. */
    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      s7, 48(s5)
    sw      s6, portEPC_STACK_LOCATION(s5)
    /* s5 and s6 has already been saved. */
    sw      s4, 36(s5)
    sw      s3, 32(s5)
    sw      s2, 28(s5)
    sw      s1, 24(s5)
    sw      s0, 20(s5)
    sw      $1, 16(s5)

    /* s7 is used as a scratch register as this should always be saved acro ss
    nesting interrupts. */
    mfhi    s7
    sw      s7, 12(s5)
    mflo    s7
    sw      s7, 8(s5)

    /* Save the stack pointer to the task. */
    la      s7, pxCurrentTCB
    lw      s7, (s7)
    sw      s5, (s7)

    /* Set the interrupt mask to the max priority that can use the API.
    The yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY
    which is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only
    ever raise the IPL value and never lower it. */
    di
    ehb
    mfc0    s7, _CP0_STATUS
    ins     s7, zero, 10, 7
    ins     s7, zero, 18, 1
    ori     s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1

    /* This mtc0 re-enables interrupts, but only above
    configMAX_SYSCALL_INTERRUPT_PRIORITY. */
    mtc0    s6, _CP0_STATUS
    ehb

    /* Clear the software interrupt in the core. */
    mfc0    s6, _CP0_CAUSE
    ins     s6, zero, 8, 1
    mtc0    s6, _CP0_CAUSE
    ehb

    /* Clear the interrupt in the interrupt controller.
    MEC14xx GIRQ24 Source bit[1] = 1 to clear */
    la      s6, PORT_CCP_JTVIC_GIRQ24_SRC
    addiu   s4, zero, 2
    sw      s4, (s6)
    jal     vTaskSwitchContext
    nop

    /* Clear the interrupt mask again. The saved status value is still in s7 */
    mtc0    s7, _CP0_STATUS
    ehb

    /* Restore the stack pointer from the TCB. */
    la      s0, pxCurrentTCB
    lw      s0, (s0)
    lw      s5, (s0)

    /* Restore the rest of the context. */
    lw      s0, 8(s5)
    mtlo    s0
    lw      s0, 12(s5)
    mthi    s0

    lw      $1, 16(s5)
    lw      s0, 20(s5)
    lw      s1, 24(s5)
    lw      s2, 28(s5)
    lw      s3, 32(s5)
    lw      s4, 36(s5)

    /* s5 is loaded later. */
    lw      s6, 44(s5)
    lw      s7, 48(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

    /* Set nesting back to zero.  As the lowest priority interrupt this
    interrupt cannot have nested. */
    la      k0, uxInterruptNesting
    sw      zero, 0(k0)

    /* Switch back to use the real stack pointer. */
    add     sp, zero, s5

    /* Restore the real s5 value. */
    lw      s5, 40(sp)

    /* Pop the status and epc values. */
    lw      k1, portSTATUS_STACK_LOCATION(sp)
    lw      k0, portEPC_STACK_LOCATION(sp)

    /* Remove stack frame. */
    addiu   sp, sp, portCONTEXT_SIZE

    mtc0    k1, _CP0_STATUS
    mtc0    k0, _CP0_EPC
    ehb
    eret
    nop

.end    vPortYieldISR