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Suggested context switching for dsPIC33CK. Now compiles and links. Untested on HW.
This commit is contained in:
agarratt
parent
61df9abef9
commit
33ceffd1e7
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@ -145,6 +145,41 @@ UBaseType_t uxCriticalNesting = 0xef;
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#endif /* defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */
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#if defined( __dsPIC33C__ )
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#define portRESTORE_CONTEXT() \
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asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \
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"MOV [W0], W15 \n" \
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"POP W0 \n" /* Restore the critical nesting counter for the task. */ \
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"MOV W0, _uxCriticalNesting \n" \
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"POP DSWPAG \n" /* See https://forums.freertos.org/t/i-have-a-problem-in-using-freertosv10-1-1-the-mcu-is-iteratively-rebooting-and-not-executing-task-function/7551 */ \
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"POP DSRPAG \n" \
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"POP CORCON \n" \
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"POP DOENDH \n" \
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"POP DOENDL \n" \
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"POP DOSTARTH \n" \
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"POP DOSTARTL \n" \
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"POP DCOUNT \n" \
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"POP ACCBU \n" \
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"POP ACCBH \n" \
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"POP ACCBL \n" \
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"POP ACCAU \n" \
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"POP ACCAH \n" \
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"POP ACCAL \n" \
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"POP TBLPAG \n" \
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"POP RCOUNT \n" /* Restore the registers from the stack. */ \
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"POP W14 \n" \
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"POP.D W12 \n" \
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"POP.D W10 \n" \
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"POP.D W8 \n" \
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"POP.D W6 \n" \
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"POP.D W4 \n" \
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"POP.D W2 \n" \
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"POP.D W0 \n" \
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"POP SR " );
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#endif /* defined( __dsPIC33C__ ) */
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#ifndef portRESTORE_CONTEXT
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#error Unrecognised device selected
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@ -185,7 +220,7 @@ const StackType_t xInitialStack[] =
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0xabac, /* TBLPAG */
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/* dsPIC specific registers. */
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#if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ )
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#if defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) || defined( __dsPIC33C__ )
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0x0202, /* ACCAL */
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0x0303, /* ACCAH */
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0x0404, /* ACCAU */
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@ -295,8 +330,13 @@ const uint32_t ulCompareMatch = ( ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) /
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IEC0bits.T1IE = 1;
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/* Setup the prescale value. */
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#if defined( __dsPIC33C__ )
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/* Microchip's header file p33CK128MP505.h does not have separate TCKPSx */
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T1CONbits.TCKPS = 1; /* Value of 1 simply copied over from old code */
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#else
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T1CONbits.TCKPS0 = 1;
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T1CONbits.TCKPS1 = 0;
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#endif /* if defined( __dsPIC33C__ ) */
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/* Start the timer. */
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T1CONbits.TON = 1;
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@ -104,3 +104,84 @@ _vPortYield:
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.end
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#endif /* defined( __dsPIC30F__ ) || defined( __dsPIC33F__ ) */
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#if defined( __dsPIC33C__ )
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.global _vPortYield
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.extern _vTaskSwitchContext
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.extern uxCriticalNesting
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_vPortYield:
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PUSH SR /* Save the SR used by the task.... */
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PUSH W0 /* ....then disable interrupts. */
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MOV #32, W0
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MOV W0, SR
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PUSH W1 /* Save registers to the stack. */
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PUSH.D W2
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PUSH.D W4
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PUSH.D W6
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PUSH.D W8
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PUSH.D W10
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PUSH.D W12
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PUSH W14
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PUSH RCOUNT
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PUSH TBLPAG
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PUSH ACCAL
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PUSH ACCAH
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PUSH ACCAU
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PUSH ACCBL
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PUSH ACCBH
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PUSH ACCBU
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PUSH DCOUNT
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PUSH DOSTARTL
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PUSH DOSTARTH
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PUSH DOENDL
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PUSH DOENDH
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PUSH CORCON
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PUSH DSRPAG /* See https://forums.freertos.org/t/i-have-a-problem-in-using-freertosv10-1-1-the-mcu-is-iteratively-rebooting-and-not-executing-task-function/7551 */
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PUSH DSWPAG
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MOV _uxCriticalNesting, W0 /* Save the critical nesting counter for the task. */
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PUSH W0
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MOV _pxCurrentTCB, W0 /* Save the new top of stack into the TCB. */
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MOV W15, [W0]
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call _vTaskSwitchContext
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MOV _pxCurrentTCB, W0 /* Restore the stack pointer for the task. */
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MOV [W0], W15
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POP W0 /* Restore the critical nesting counter for the task. */
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MOV W0, _uxCriticalNesting
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POP DSWPAG
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POP DSRPAG /* See https://forums.freertos.org/t/i-have-a-problem-in-using-freertosv10-1-1-the-mcu-is-iteratively-rebooting-and-not-executing-task-function/7551 */
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POP CORCON
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POP DOENDH
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POP DOENDL
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POP DOSTARTH
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POP DOSTARTL
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POP DCOUNT
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POP ACCBU
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POP ACCBH
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POP ACCBL
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POP ACCAU
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POP ACCAH
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POP ACCAL
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POP TBLPAG
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POP RCOUNT /* Restore the registers from the stack. */
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POP W14
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POP.D W12
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POP.D W10
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POP.D W8
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POP.D W6
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POP.D W4
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POP.D W2
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POP.D W0
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POP SR
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return
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.end
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#endif /* defined( __dsPIC33C__ ) */
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@ -54,8 +54,8 @@
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#define portSTACK_TYPE uint16_t
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#define portBASE_TYPE short
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#define portPOINTER_SIZE_TYPE size_t
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/* Microchip xc16 compilers already define SIZE_MAX in stdint.h */
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#ifndef SIZE_MAX
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/* Microchip xc16 and xc-dsc compilers already define SIZE_MAX in stdint.h */
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#define SIZE_MAX ( ( size_t ) -1 )
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#endif
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