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Add ehb instructions back into PIC32 port layer (upon advice).

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Add configCLEAR_TICK_TIMER_INTERRUPT into PIC32 port layer to allow the timer configuration to be changed without any edits to the port layer being required.
Add prvTaskExitError() into the PIC32 port layer to trap tasks that attempt to exit from their implementing function.
Provide the ability to trap interrupt stack overflows in the PIC32 port.
Radically improve the timing in the Win32 simulator port layer.
This commit is contained in:
Richard Barry 2013-11-07 14:16:32 +00:00
parent 40d2e74417
commit 30bc6c01a9
5 changed files with 218 additions and 80 deletions
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51
FreeRTOS/Source/portable/MPLAB/PIC32MX/ISR_Support.h
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@ -1,5 +1,5 @@
/*
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
FreeRTOS V7.5.3 - Copyright (C) 2013 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
@ -69,24 +69,23 @@
#define portEPC_STACK_LOCATION 124
#define portSTATUS_STACK_LOCATION 128
/******************************************************************/
/******************************************************************/
.macro portSAVE_CONTEXT
/* Make room for the context. First save the current status so we can
manipulate it, and the cause and EPC registers so we capture their
original values in case of interrupt nesting. */
/* 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 we can use them during this interrupt. Any
nesting interrupts should maintain the values of these registers
across the ISR. */
/* 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)
/* Enable interrupts above the current priority. */
/* Prepare to enable interrupts above the current priority. */
srl k0, k0, 0xa
ins k1, k0, 10, 6
ins k1, zero, 1, 4
@ -100,7 +99,7 @@
/* If the nesting count is 0 then swap to the the system stack, otherwise
the system stack is already being used. */
bne s6, zero, .+20
bne s6, zero, 1f
nop
/* Swap to the system stack. */
@ -108,7 +107,7 @@
lw sp, (sp)
/* Increment and save the nesting count. */
addiu s6, s6, 1
1: addiu s6, s6, 1
sw s6, 0(k0)
/* s6 holds the EPC value, this is saved after interrupts are re-enabled. */
@ -120,11 +119,11 @@
/* 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 ra, 120(s5)
sw s8, 116(s5)
sw t9, 112(s5)
sw t8, 108(s5)
sw t7, 104(s5)
sw t8, 108(s5)
sw t7, 104(s5)
sw t6, 100(s5)
sw t5, 96(s5)
sw t4, 92(s5)
@ -151,16 +150,16 @@
la s6, uxInterruptNesting
lw s6, (s6)
addiu s6, s6, -1
bne s6, zero, .+20
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
@ -168,13 +167,13 @@
la s6, uxInterruptNesting
lw s6, (s6)
addiu s6, s6, -1
bne s6, zero, .+20
bne s6, zero, 1f
nop
la s6, uxSavedTaskStackPointer
lw s5, (s6)
/* Restore the context. */
lw s6, 8(s5)
1: lw s6, 8(s5)
mtlo s6
lw s6, 12(s5)
mthi s6
@ -203,6 +202,7 @@
/* Protect access to the k registers, and others. */
di
ehb
/* Decrement the nesting count. */
la k0, uxInterruptNesting
@ -213,15 +213,16 @@
lw k0, portSTATUS_STACK_LOCATION(s5)
lw k1, portEPC_STACK_LOCATION(s5)
/* Leave the stack how we found it. First load sp from s5, then restore
s5 from the stack. */
/* 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
addiu sp, sp, portCONTEXT_SIZE
mtc0 k0, _CP0_STATUS
mtc0 k1, _CP0_EPC
eret
ehb
eret
nop
.endm