mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-08-31 07:28:37 -04:00
RISC-V tasks now context switching to each other using taskYIELD() - not fully tested yet.
This commit is contained in:
Richard Barry
parent
2bcb1ab02b
commit
e3dc5e934b
3 changed files with 121 additions and 106 deletions
|
|
@ -47,80 +47,83 @@
|
|||
|
||||
.align 8
|
||||
xPortStartScheduler:
|
||||
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
lw sp, 0( sp ) /* Read sp from first TCB member. */
|
||||
lw x1, 0( sp )
|
||||
lw x5, 1 * WORD_SIZE( sp ) /* t0 */
|
||||
lw x6, 2 * WORD_SIZE( sp ) /* t1 */
|
||||
lw x7, 3 * WORD_SIZE( sp ) /* t2 */
|
||||
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */
|
||||
lw x9, 5 * WORD_SIZE( sp ) /* s1 */
|
||||
lw x10, 6 * WORD_SIZE( sp ) /* a0 */
|
||||
lw x11, 7 * WORD_SIZE( sp ) /* a1 */
|
||||
lw x12, 8 * WORD_SIZE( sp ) /* a2 */
|
||||
lw x13, 9 * WORD_SIZE( sp ) /* a3 */
|
||||
lw x14, 10 * WORD_SIZE( sp ) /* a4 */
|
||||
lw x15, 11 * WORD_SIZE( sp ) /* a5 */
|
||||
lw x16, 12 * WORD_SIZE( sp ) /* a6 */
|
||||
lw x17, 13 * WORD_SIZE( sp ) /* a7 */
|
||||
lw x18, 14 * WORD_SIZE( sp ) /* s2 */
|
||||
lw x19, 15 * WORD_SIZE( sp ) /* s3 */
|
||||
lw x20, 16 * WORD_SIZE( sp ) /* s4 */
|
||||
lw x21, 17 * WORD_SIZE( sp ) /* s5 */
|
||||
lw x22, 18 * WORD_SIZE( sp ) /* s6 */
|
||||
lw x23, 19 * WORD_SIZE( sp ) /* s7 */
|
||||
lw x24, 20 * WORD_SIZE( sp ) /* s8 */
|
||||
lw x25, 21 * WORD_SIZE( sp ) /* s9 */
|
||||
lw x26, 22 * WORD_SIZE( sp ) /* s10 */
|
||||
lw x27, 23 * WORD_SIZE( sp ) /* s11 */
|
||||
lw x28, 24 * WORD_SIZE( sp ) /* t3 */
|
||||
lw x29, 25 * WORD_SIZE( sp ) /* t4 */
|
||||
lw x30, 26 * WORD_SIZE( sp ) /* t5 */
|
||||
lw x31, 27 * WORD_SIZE( sp ) /* t6 */
|
||||
addi sp, sp, CONTEXT_SIZE
|
||||
csrs mie, 8 /* Enable soft interrupt. */
|
||||
csrs mstatus, 8 /* Enable interrupts. */
|
||||
ret
|
||||
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
lw sp, 0( sp ) /* Read sp from first TCB member. */
|
||||
|
||||
lw x1, 0( sp ) /* Note for starting the scheduler the exception return address is used as the function return address. */
|
||||
lw x5, 2 * WORD_SIZE( sp ) /* t0 */
|
||||
lw x6, 3 * WORD_SIZE( sp ) /* t1 */
|
||||
lw x7, 4 * WORD_SIZE( sp ) /* t2 */
|
||||
lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
|
||||
lw x9, 6 * WORD_SIZE( sp ) /* s1 */
|
||||
lw x10, 7 * WORD_SIZE( sp ) /* a0 */
|
||||
lw x11, 8 * WORD_SIZE( sp ) /* a1 */
|
||||
lw x12, 9 * WORD_SIZE( sp ) /* a2 */
|
||||
lw x13, 10 * WORD_SIZE( sp ) /* a3 */
|
||||
lw x14, 11 * WORD_SIZE( sp ) /* a4 */
|
||||
lw x15, 12 * WORD_SIZE( sp ) /* a5 */
|
||||
lw x16, 13 * WORD_SIZE( sp ) /* a6 */
|
||||
lw x17, 14 * WORD_SIZE( sp ) /* a7 */
|
||||
lw x18, 15 * WORD_SIZE( sp ) /* s2 */
|
||||
lw x19, 16 * WORD_SIZE( sp ) /* s3 */
|
||||
lw x20, 17 * WORD_SIZE( sp ) /* s4 */
|
||||
lw x21, 18 * WORD_SIZE( sp ) /* s5 */
|
||||
lw x22, 19 * WORD_SIZE( sp ) /* s6 */
|
||||
lw x23, 20 * WORD_SIZE( sp ) /* s7 */
|
||||
lw x24, 21 * WORD_SIZE( sp ) /* s8 */
|
||||
lw x25, 22 * WORD_SIZE( sp ) /* s9 */
|
||||
lw x26, 23 * WORD_SIZE( sp ) /* s10 */
|
||||
lw x27, 24 * WORD_SIZE( sp ) /* s11 */
|
||||
lw x28, 25 * WORD_SIZE( sp ) /* t3 */
|
||||
lw x29, 26 * WORD_SIZE( sp ) /* t4 */
|
||||
lw x30, 27 * WORD_SIZE( sp ) /* t5 */
|
||||
lw x31, 28 * WORD_SIZE( sp ) /* t6 */
|
||||
addi sp, sp, CONTEXT_SIZE
|
||||
csrs mstatus, 8 /* Enable machine interrupts. */
|
||||
csrs mie, 8 /* Enable soft interrupt. */
|
||||
ret
|
||||
|
||||
/*-----------------------------------------------------------*/
|
||||
|
||||
.align 8
|
||||
vPortTrapHandler:
|
||||
addi sp, sp, -CONTEXT_SIZE
|
||||
sw x1, 0( sp )
|
||||
sw x5, 1 * WORD_SIZE( sp )
|
||||
sw x6, 2 * WORD_SIZE( sp )
|
||||
sw x7, 3 * WORD_SIZE( sp )
|
||||
sw x8, 4 * WORD_SIZE( sp )
|
||||
sw x9, 5 * WORD_SIZE( sp )
|
||||
sw x10, 6 * WORD_SIZE( sp )
|
||||
sw x11, 7 * WORD_SIZE( sp )
|
||||
sw x12, 8 * WORD_SIZE( sp )
|
||||
sw x13, 9 * WORD_SIZE( sp )
|
||||
sw x14, 10 * WORD_SIZE( sp )
|
||||
sw x15, 11 * WORD_SIZE( sp )
|
||||
sw x16, 12 * WORD_SIZE( sp )
|
||||
sw x17, 13 * WORD_SIZE( sp )
|
||||
sw x18, 14 * WORD_SIZE( sp )
|
||||
sw x19, 15 * WORD_SIZE( sp )
|
||||
sw x20, 16 * WORD_SIZE( sp )
|
||||
sw x21, 17 * WORD_SIZE( sp )
|
||||
sw x22, 18 * WORD_SIZE( sp )
|
||||
sw x23, 19 * WORD_SIZE( sp )
|
||||
sw x24, 20 * WORD_SIZE( sp )
|
||||
sw x25, 21 * WORD_SIZE( sp )
|
||||
sw x26, 22 * WORD_SIZE( sp )
|
||||
sw x27, 23 * WORD_SIZE( sp )
|
||||
sw x28, 24 * WORD_SIZE( sp )
|
||||
sw x29, 25 * WORD_SIZE( sp )
|
||||
sw x30, 26 * WORD_SIZE( sp )
|
||||
sw x31, 27 * WORD_SIZE( sp )
|
||||
sw x1, 1( sp )
|
||||
sw x5, 2 * WORD_SIZE( sp )
|
||||
sw x6, 3 * WORD_SIZE( sp )
|
||||
sw x7, 4 * WORD_SIZE( sp )
|
||||
sw x8, 5 * WORD_SIZE( sp )
|
||||
sw x9, 6 * WORD_SIZE( sp )
|
||||
sw x10, 7 * WORD_SIZE( sp )
|
||||
sw x11, 8 * WORD_SIZE( sp )
|
||||
sw x12, 9 * WORD_SIZE( sp )
|
||||
sw x13, 10 * WORD_SIZE( sp )
|
||||
sw x14, 11 * WORD_SIZE( sp )
|
||||
sw x15, 12 * WORD_SIZE( sp )
|
||||
sw x16, 13 * WORD_SIZE( sp )
|
||||
sw x17, 14 * WORD_SIZE( sp )
|
||||
sw x18, 15 * WORD_SIZE( sp )
|
||||
sw x19, 16 * WORD_SIZE( sp )
|
||||
sw x20, 17 * WORD_SIZE( sp )
|
||||
sw x21, 18 * WORD_SIZE( sp )
|
||||
sw x22, 19 * WORD_SIZE( sp )
|
||||
sw x23, 20 * WORD_SIZE( sp )
|
||||
sw x24, 21 * WORD_SIZE( sp )
|
||||
sw x25, 22 * WORD_SIZE( sp )
|
||||
sw x26, 23 * WORD_SIZE( sp )
|
||||
sw x27, 24 * WORD_SIZE( sp )
|
||||
sw x28, 25 * WORD_SIZE( sp )
|
||||
sw x29, 26 * WORD_SIZE( sp )
|
||||
sw x30, 27 * WORD_SIZE( sp )
|
||||
sw x31, 28 * WORD_SIZE( sp )
|
||||
|
||||
/* Save exception return address. */
|
||||
csrr t0, mepc
|
||||
sw t0, 0( sp )
|
||||
|
||||
lw t0, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
sw sp, 0( t0 ) /* Write sp from first TCB member. */
|
||||
|
||||
csrr t0, mepc
|
||||
sw t0, 31 * WORD_SIZE( sp )
|
||||
|
||||
csrr a0, mcause
|
||||
csrr a1, mepc
|
||||
mv a2, sp
|
||||
|
|
@ -131,37 +134,43 @@ vPortTrapHandler:
|
|||
li t0, 0x00001800 /* MSTATUS MPP */
|
||||
csrs mstatus, t0
|
||||
|
||||
/* Cut and past restore code from xPortStartScheduler - can be made a macro
|
||||
but that makes debugging harder. */
|
||||
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
lw sp, 0( sp ) /* Read sp from first TCB member. */
|
||||
lw x1, 0( sp )
|
||||
lw x5, 1 * WORD_SIZE( sp ) /* t0 */
|
||||
lw x6, 2 * WORD_SIZE( sp ) /* t1 */
|
||||
lw x7, 3 * WORD_SIZE( sp ) /* t2 */
|
||||
lw x8, 4 * WORD_SIZE( sp ) /* s0/fp */
|
||||
lw x9, 5 * WORD_SIZE( sp ) /* s1 */
|
||||
lw x10, 6 * WORD_SIZE( sp ) /* a0 */
|
||||
lw x11, 7 * WORD_SIZE( sp ) /* a1 */
|
||||
lw x12, 8 * WORD_SIZE( sp ) /* a2 */
|
||||
lw x13, 9 * WORD_SIZE( sp ) /* a3 */
|
||||
lw x14, 10 * WORD_SIZE( sp ) /* a4 */
|
||||
lw x15, 11 * WORD_SIZE( sp ) /* a5 */
|
||||
lw x16, 12 * WORD_SIZE( sp ) /* a6 */
|
||||
lw x17, 13 * WORD_SIZE( sp ) /* a7 */
|
||||
lw x18, 14 * WORD_SIZE( sp ) /* s2 */
|
||||
lw x19, 15 * WORD_SIZE( sp ) /* s3 */
|
||||
lw x20, 16 * WORD_SIZE( sp ) /* s4 */
|
||||
lw x21, 17 * WORD_SIZE( sp ) /* s5 */
|
||||
lw x22, 18 * WORD_SIZE( sp ) /* s6 */
|
||||
lw x23, 19 * WORD_SIZE( sp ) /* s7 */
|
||||
lw x24, 20 * WORD_SIZE( sp ) /* s8 */
|
||||
lw x25, 21 * WORD_SIZE( sp ) /* s9 */
|
||||
lw x26, 22 * WORD_SIZE( sp ) /* s10 */
|
||||
lw x27, 23 * WORD_SIZE( sp ) /* s11 */
|
||||
lw x28, 24 * WORD_SIZE( sp ) /* t3 */
|
||||
lw x29, 25 * WORD_SIZE( sp ) /* t4 */
|
||||
lw x30, 26 * WORD_SIZE( sp ) /* t5 */
|
||||
lw x31, 27 * WORD_SIZE( sp ) /* t6 */
|
||||
addi sp, sp, CONTEXT_SIZE
|
||||
mret
|
||||
lw sp, pxCurrentTCB /* Load pxCurrentTCB. */
|
||||
lw sp, 0( sp ) /* Read sp from first TCB member. */
|
||||
|
||||
/* Load mret with the address of the first task. */
|
||||
lw t0, 0( sp )
|
||||
csrw mepc, t0
|
||||
|
||||
lw x1, 1( sp )
|
||||
lw x5, 2 * WORD_SIZE( sp ) /* t0 */
|
||||
lw x6, 3 * WORD_SIZE( sp ) /* t1 */
|
||||
lw x7, 4 * WORD_SIZE( sp ) /* t2 */
|
||||
lw x8, 5 * WORD_SIZE( sp ) /* s0/fp */
|
||||
lw x9, 6 * WORD_SIZE( sp ) /* s1 */
|
||||
lw x10, 7 * WORD_SIZE( sp ) /* a0 */
|
||||
lw x11, 8 * WORD_SIZE( sp ) /* a1 */
|
||||
lw x12, 9 * WORD_SIZE( sp ) /* a2 */
|
||||
lw x13, 10 * WORD_SIZE( sp ) /* a3 */
|
||||
lw x14, 11 * WORD_SIZE( sp ) /* a4 */
|
||||
lw x15, 12 * WORD_SIZE( sp ) /* a5 */
|
||||
lw x16, 13 * WORD_SIZE( sp ) /* a6 */
|
||||
lw x17, 14 * WORD_SIZE( sp ) /* a7 */
|
||||
lw x18, 15 * WORD_SIZE( sp ) /* s2 */
|
||||
lw x19, 16 * WORD_SIZE( sp ) /* s3 */
|
||||
lw x20, 17 * WORD_SIZE( sp ) /* s4 */
|
||||
lw x21, 18 * WORD_SIZE( sp ) /* s5 */
|
||||
lw x22, 19 * WORD_SIZE( sp ) /* s6 */
|
||||
lw x23, 20 * WORD_SIZE( sp ) /* s7 */
|
||||
lw x24, 21 * WORD_SIZE( sp ) /* s8 */
|
||||
lw x25, 22 * WORD_SIZE( sp ) /* s9 */
|
||||
lw x26, 23 * WORD_SIZE( sp ) /* s10 */
|
||||
lw x27, 24 * WORD_SIZE( sp ) /* s11 */
|
||||
lw x28, 25 * WORD_SIZE( sp ) /* t3 */
|
||||
lw x29, 26 * WORD_SIZE( sp ) /* t4 */
|
||||
lw x30, 27 * WORD_SIZE( sp ) /* t5 */
|
||||
lw x31, 28 * WORD_SIZE( sp ) /* t6 */
|
||||
addi sp, sp, CONTEXT_SIZE
|
||||
|
||||
mret
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue