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FreeRTOS-Kernel/portable/MPLAB/PIC32MEC14xx/port_asm.S
Joseph Julicher 989bc332b2
Feature: SMP (#278) 
* Add XMOS XCore ports

Some minor modifications are also made to the kernel to support the
XCore compiler's automatic stack size calculation.

* Update kernel to support SMP

The XMOS XCore ports are also updated to support SMP.

* Fix compiler warnings in xcore ports

The port set and clear interrupt mask from ISR macros were removed from
the ports so that the default macros found in FreeRTOS.h are used
instead. The default macros do not result in warnings when they are
used.

* Remove inline function from timers.h

Inline function converted to macro. This should now build when
optimizations are off and inlining is disabled.

* Fix compiler warnings in xcore ports and tasks.c

* fixed documentation for ulTaskNotifyTake() and ulTaskNotifyTakeIndexed()

* spelling fixes for tasks.c

Co-authored-by: Michael Bruno <mikeb@xmos.com>
2021-03-15 17:29:08 -07:00

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/*
* FreeRTOS Kernel V10.4.3
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* 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
*
* 1 tab == 4 spaces!
*/
/* 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
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