mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-06-05 20:09:05 -04:00
Add optional FPU support to the MicroBlaze code.
Rearrange the order in which registers are saved to the stack in an interrupt to make it more logical, and introduce #defines for the offset from the stack pointer for each variable.
This commit is contained in:
Richard Barry
parent
4d287dd1bf
commit
c9b5f43d11
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@ -64,6 +64,7 @@
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#include <string.h>
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#include <string.h>
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/* Hardware includes. */
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/* Hardware includes. */
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#include <xparameters.h>
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#include <xintc.h>
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#include <xintc.h>
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#include <xintc_i.h>
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#include <xintc_i.h>
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#include <xtmrctr.h>
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#include <xtmrctr.h>
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@ -78,6 +79,7 @@ to reach zero, so it is initialised to a high value. */
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/* The bit within the MSR register that enabled/disables interrupts. */
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/* The bit within the MSR register that enabled/disables interrupts. */
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#define portMSR_IE ( 0x02U )
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#define portMSR_IE ( 0x02U )
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#define portINITIAL_FSR ( 0U )
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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/*
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/*
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@ -138,6 +140,18 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00000000;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00000000;
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pxTopOfStack--;
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pxTopOfStack--;
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#if XPAR_MICROBLAZE_0_USE_FPU == 1
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/* The FSR value placed in the initial task context is just 0. */
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*pxTopOfStack = portINITIAL_FSR;
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pxTopOfStack--;
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#endif
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/* The MSR value placed in the initial task context should have interrupts
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disabled. Each task will enable interrupts automatically when it enters
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the running state for the first time. */
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*pxTopOfStack = mfmsr() & ~portMSR_IE;
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pxTopOfStack--;
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/* First stack an initial value for the critical section nesting. This
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/* First stack an initial value for the critical section nesting. This
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is initialised to zero. */
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is initialised to zero. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x00;
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@ -205,13 +219,6 @@ const unsigned long ulR13 = ( unsigned long ) &_SDA_BASE_;
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pxTopOfStack--;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1e; /* R30 - must be saved across function calls. Callee-save. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1e; /* R30 - must be saved across function calls. Callee-save. */
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pxTopOfStack--;
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pxTopOfStack--;
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/* The MSR is stacked between R30 and R31. This should have interrupts
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disabled. Each task will enable interrupts automatically when it enters
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the running state for the first time. */
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*pxTopOfStack = mfmsr() & ~portMSR_IE;
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pxTopOfStack--;
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */
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*pxTopOfStack = ( portSTACK_TYPE ) 0x1f; /* R31 - must be saved across function calls. Callee-save. */
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pxTopOfStack--;
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pxTopOfStack--;
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@ -230,12 +237,8 @@ extern unsigned long _stack[];
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this function is called. */
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this function is called. */
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vApplicationSetupTimerInterrupt();
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vApplicationSetupTimerInterrupt();
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/* Reuse the stack from main as the stack for the interrupts/exceptions.
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/* Reuse the stack from main as the stack for the interrupts/exceptions. */
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The value is adjusted slightly to allow functions called from the
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interrupts/exceptions to write back into the stack of the interrupt/
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exception function itself. */
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pulISRStack = ( unsigned long * ) _stack;
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pulISRStack = ( unsigned long * ) _stack;
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pulISRStack -= 2;
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/* Restore the context of the first task that is going to run. From here
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/* Restore the context of the first task that is going to run. From here
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on, the created tasks will be executing. */
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on, the created tasks will be executing. */
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@ -58,6 +58,50 @@
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*/
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*/
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#include "FreeRTOSConfig.h"
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#include "FreeRTOSConfig.h"
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#include "xparameters.h"
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/* The context is oversized to allow functions called from the ISR to write
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back into the caller stack. */
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#if XPAR_MICROBLAZE_0_USE_FPU == 1
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#define portCONTEXT_SIZE 136
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#else
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#define portCONTEXT_SIZE 132
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#endif
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/* Offsets from the stack pointer at which saved registers are placed. */
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#define portR31_OFFSET 4
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#define portR30_OFFSET 8
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#define portR29_OFFSET 12
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#define portR28_OFFSET 16
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#define portR27_OFFSET 20
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#define portR26_OFFSET 24
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#define portR25_OFFSET 28
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#define portR24_OFFSET 32
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#define portR23_OFFSET 36
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#define portR22_OFFSET 40
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#define portR21_OFFSET 44
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#define portR20_OFFSET 48
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#define portR19_OFFSET 52
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#define portR18_OFFSET 56
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#define portR17_OFFSET 60
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#define portR16_OFFSET 64
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#define portR15_OFFSET 68
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#define portR14_OFFSET 72
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#define portR13_OFFSET 76
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#define portR12_OFFSET 80
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#define portR11_OFFSET 84
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#define portR10_OFFSET 88
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#define portR9_OFFSET 92
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#define portR8_OFFSET 96
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#define portR7_OFFSET 100
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#define portR6_OFFSET 104
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#define portR5_OFFSET 108
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#define portR4_OFFSET 112
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#define portR3_OFFSET 116
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#define portR2_OFFSET 120
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#define portCRITICAL_NESTING_OFFSET 124
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#define portMSR_OFFSET 128
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#define portFSR_OFFSET 132
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.extern pxCurrentTCB
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.extern pxCurrentTCB
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.extern XIntc_DeviceInterruptHandler
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.extern XIntc_DeviceInterruptHandler
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@ -73,47 +117,53 @@
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.macro portSAVE_CONTEXT
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.macro portSAVE_CONTEXT
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/* Make room for the context on the stack. */
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/* Make room for the context on the stack. */
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addik r1, r1, -132
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addik r1, r1, -portCONTEXT_SIZE
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/* Save r31 so it can then be used as a temporary. */
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swi r31, r1, 4
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/* Copy the msr into r31 - this is stacked later. */
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mfs r31, rmsr
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/* Stack general registers. */
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/* Stack general registers. */
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swi r30, r1, 12
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swi r31, r1, portR31_OFFSET
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swi r29, r1, 16
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swi r30, r1, portR30_OFFSET
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swi r28, r1, 20
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swi r29, r1, portR29_OFFSET
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swi r27, r1, 24
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swi r28, r1, portR28_OFFSET
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swi r26, r1, 28
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swi r27, r1, portR27_OFFSET
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swi r25, r1, 32
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swi r26, r1, portR26_OFFSET
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swi r24, r1, 36
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swi r25, r1, portR25_OFFSET
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swi r23, r1, 40
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swi r24, r1, portR24_OFFSET
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swi r22, r1, 44
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swi r23, r1, portR23_OFFSET
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swi r21, r1, 48
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swi r22, r1, portR22_OFFSET
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swi r20, r1, 52
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swi r21, r1, portR21_OFFSET
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swi r19, r1, 56
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swi r20, r1, portR20_OFFSET
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swi r18, r1, 60
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swi r19, r1, portR19_OFFSET
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swi r17, r1, 64
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swi r18, r1, portR18_OFFSET
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swi r16, r1, 68
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swi r17, r1, portR17_OFFSET
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swi r15, r1, 72
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swi r16, r1, portR16_OFFSET
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swi r13, r1, 80
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swi r15, r1, portR15_OFFSET
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swi r12, r1, 84
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/* R14 is saved later as it needs adjustment if a yield is performed. */
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swi r11, r1, 88
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swi r13, r1, portR13_OFFSET
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swi r10, r1, 92
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swi r12, r1, portR12_OFFSET
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swi r9, r1, 96
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swi r11, r1, portR11_OFFSET
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swi r8, r1, 100
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swi r10, r1, portR10_OFFSET
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swi r7, r1, 104
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swi r9, r1, portR9_OFFSET
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swi r6, r1, 108
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swi r8, r1, portR8_OFFSET
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swi r5, r1, 112
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swi r7, r1, portR7_OFFSET
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swi r4, r1, 116
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swi r6, r1, portR6_OFFSET
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swi r3, r1, 120
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swi r5, r1, portR5_OFFSET
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swi r2, r1, 124
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swi r4, r1, portR4_OFFSET
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swi r3, r1, portR3_OFFSET
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swi r2, r1, portR2_OFFSET
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/* Stack the critical section nesting value. */
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/* Stack the critical section nesting value. */
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lwi r3, r0, uxCriticalNesting
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lwi r18, r0, uxCriticalNesting
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swi r3, r1, 128
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swi r18, r1, portCRITICAL_NESTING_OFFSET
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/* Stack MSR. */
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mfs r18, rmsr
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swi r18, r1, portMSR_OFFSET
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#if XPAR_MICROBLAZE_0_USE_FPU == 1
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/* Stack FSR. */
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mfs r18, rfsr
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swi r18, r1, portFSR_OFFSET
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#endif
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/* Save the top of stack value to the TCB. */
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/* Save the top of stack value to the TCB. */
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lwi r3, r0, pxCurrentTCB
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lwi r3, r0, pxCurrentTCB
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@ -124,60 +174,66 @@
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.macro portRESTORE_CONTEXT
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.macro portRESTORE_CONTEXT
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/* Load the top of stack value from the TCB. */
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/* Load the top of stack value from the TCB. */
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lwi r3, r0, pxCurrentTCB
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lwi r18, r0, pxCurrentTCB
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lw r1, r0, r3
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lw r1, r0, r18
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/* Restore the general registers. */
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/* Restore the general registers. */
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lwi r31, r1, 4
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lwi r31, r1, portR31_OFFSET
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lwi r30, r1, 12
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lwi r30, r1, portR30_OFFSET
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lwi r29, r1, 16
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lwi r29, r1, portR29_OFFSET
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lwi r28, r1, 20
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lwi r28, r1, portR28_OFFSET
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lwi r27, r1, 24
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lwi r27, r1, portR27_OFFSET
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lwi r26, r1, 28
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lwi r26, r1, portR26_OFFSET
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lwi r25, r1, 32
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lwi r25, r1, portR25_OFFSET
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lwi r24, r1, 36
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lwi r24, r1, portR24_OFFSET
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lwi r23, r1, 40
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lwi r23, r1, portR23_OFFSET
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lwi r22, r1, 44
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lwi r22, r1, portR22_OFFSET
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lwi r21, r1, 48
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lwi r21, r1, portR21_OFFSET
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lwi r20, r1, 52
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lwi r20, r1, portR20_OFFSET
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lwi r19, r1, 56
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lwi r19, r1, portR19_OFFSET
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lwi r18, r1, 60
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lwi r17, r1, portR17_OFFSET
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lwi r17, r1, 64
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lwi r16, r1, portR16_OFFSET
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lwi r16, r1, 68
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lwi r15, r1, portR15_OFFSET
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lwi r15, r1, 72
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lwi r14, r1, portR14_OFFSET
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lwi r14, r1, 76
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lwi r13, r1, portR13_OFFSET
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lwi r13, r1, 80
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lwi r12, r1, portR12_OFFSET
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lwi r12, r1, 84
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lwi r11, r1, portR11_OFFSET
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lwi r11, r1, 88
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lwi r10, r1, portR10_OFFSET
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lwi r10, r1, 92
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lwi r9, r1, portR9_OFFSET
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lwi r9, r1, 96
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lwi r8, r1, portR8_OFFSET
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lwi r8, r1, 100
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lwi r7, r1, portR7_OFFSET
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lwi r7, r1, 104
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lwi r6, r1, portR6_OFFSET
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lwi r6, r1, 108
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lwi r5, r1, portR5_OFFSET
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lwi r5, r1, 112
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lwi r4, r1, portR4_OFFSET
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lwi r4, r1, 116
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lwi r3, r1, portR3_OFFSET
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lwi r2, r1, 124
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lwi r2, r1, portR2_OFFSET
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/* Reload the rmsr from the stack. */
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/* Reload the rmsr from the stack. */
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lwi r3, r1, 8
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lwi r18, r1, portMSR_OFFSET
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mts rmsr, r3
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mts rmsr, r18
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#if XPAR_MICROBLAZE_0_USE_FPU == 1
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/* Reload the FSR from the stack. */
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lwi r18, r1, portFSR_OFFSET
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mts rfsr, r18
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#endif
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/* Load the critical nesting value. */
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/* Load the critical nesting value. */
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lwi r3, r1, 128
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lwi r18, r1, portCRITICAL_NESTING_OFFSET
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swi r3, r0, uxCriticalNesting
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swi r18, r0, uxCriticalNesting
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/* Test the critical nesting value. If it is non zero then the task last
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/* Test the critical nesting value. If it is non zero then the task last
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exited the running state using a yield. If it is zero, then the task
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exited the running state using a yield. If it is zero, then the task
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last exited the running state through an interrupt. */
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last exited the running state through an interrupt. */
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xori r3, r3, 0
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xori r18, r18, 0
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bnei r3, exit_from_yield
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bnei r18, exit_from_yield
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/* r3 was being used as a temporary. Now restore its true value from the
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/* r18 was being used as a temporary. Now restore its true value from the
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stack. */
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stack. */
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lwi r3, r1, 120
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lwi r18, r1, portR18_OFFSET
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/* Remove the stack frame. */
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/* Remove the stack frame. */
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addik r1, r1, 132
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addik r1, r1, portCONTEXT_SIZE
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/* Return using rtid so interrupts are re-enabled as this function is
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/* Return using rtid so interrupts are re-enabled as this function is
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exited. */
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exited. */
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@ -186,35 +242,33 @@
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.endm
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.endm
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.text
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.align 2
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/* This function is used to exit portRESTORE_CONTEXT() if the task being
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/* This function is used to exit portRESTORE_CONTEXT() if the task being
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returned to last left the Running state by calling taskYIELD() (rather than
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returned to last left the Running state by calling taskYIELD() (rather than
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being preempted by an interrupt. */
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being preempted by an interrupt. */
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.text
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.align 2
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exit_from_yield:
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exit_from_yield:
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/* r3 was being used as a temporary. Now restore its true value from the
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/* r18 was being used as a temporary. Now restore its true value from the
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stack. */
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stack. */
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lwi r3, r1, 120
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lwi r18, r1, portR18_OFFSET
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/* Remove the stack frame. */
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/* Remove the stack frame. */
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addik r1, r1, 132
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addik r1, r1, portCONTEXT_SIZE
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/* Return to the task. */
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/* Return to the task. */
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rtsd r14, 0
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rtsd r14, 0
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or r0, r0, r0
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or r0, r0, r0
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.text
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.align 2
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_interrupt_handler:
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_interrupt_handler:
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portSAVE_CONTEXT
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portSAVE_CONTEXT
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/* Stack msr. */
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swi r31, r1, 8
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/* Stack the return address. */
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/* Stack the return address. */
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swi r14, r1, 76
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swi r14, r1, portR14_OFFSET
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/* Switch to the ISR stack. The pulISRStack value has already been set to
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/* Switch to the ISR stack. The pulISRStack value has already been set to
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leave space for the caller function to write back into the stack of this
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leave space for the caller function to write back into the stack of this
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@ -232,17 +286,16 @@ _interrupt_handler:
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portRESTORE_CONTEXT
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portRESTORE_CONTEXT
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.text
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.align 2
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VPortYieldASM:
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VPortYieldASM:
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portSAVE_CONTEXT
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portSAVE_CONTEXT
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/* Stack msr. */
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swi r31, r1, 8
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/* Modify the return address so a return is done to the instruction after
|
/* Modify the return address so a return is done to the instruction after
|
||||||
the call to VPortYieldASM. */
|
the call to VPortYieldASM. */
|
||||||
addi r14, r14, 8
|
addi r14, r14, 8
|
||||||
swi r14, r1, 76
|
swi r14, r1, portR14_OFFSET
|
||||||
|
|
||||||
/* Switch to use the ISR stack. */
|
/* Switch to use the ISR stack. */
|
||||||
lwi r1, r0, pulISRStack
|
lwi r1, r0, pulISRStack
|
||||||
|
|
@ -254,6 +307,8 @@ VPortYieldASM:
|
||||||
/* Restore the context of the next task scheduled to execute. */
|
/* Restore the context of the next task scheduled to execute. */
|
||||||
portRESTORE_CONTEXT
|
portRESTORE_CONTEXT
|
||||||
|
|
||||||
|
.text
|
||||||
|
.align 2
|
||||||
vPortStartFirstTask:
|
vPortStartFirstTask:
|
||||||
|
|
||||||
portRESTORE_CONTEXT
|
portRESTORE_CONTEXT
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue