mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-04-20 21:41:59 -04:00
425 lines
10 KiB
ArmAsm
425 lines
10 KiB
ArmAsm
/*
|
|
FreeRTOS V8.2.0 - Copyright (C) 2015 Real Time Engineers Ltd.
|
|
All rights reserved
|
|
|
|
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
|
|
|
|
This file is part of the FreeRTOS distribution.
|
|
|
|
FreeRTOS is free software; you can redistribute it and/or modify it under
|
|
the terms of the GNU General Public License (version 2) as published by the
|
|
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
|
|
|
|
***************************************************************************
|
|
>>! NOTE: The modification to the GPL is included to allow you to !<<
|
|
>>! distribute a combined work that includes FreeRTOS without being !<<
|
|
>>! obliged to provide the source code for proprietary components !<<
|
|
>>! outside of the FreeRTOS kernel. !<<
|
|
***************************************************************************
|
|
|
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
FOR A PARTICULAR PURPOSE. Full license text is available on the following
|
|
link: http://www.freertos.org/a00114.html
|
|
|
|
***************************************************************************
|
|
* *
|
|
* FreeRTOS provides completely free yet professionally developed, *
|
|
* robust, strictly quality controlled, supported, and cross *
|
|
* platform software that is more than just the market leader, it *
|
|
* is the industry's de facto standard. *
|
|
* *
|
|
* Help yourself get started quickly while simultaneously helping *
|
|
* to support the FreeRTOS project by purchasing a FreeRTOS *
|
|
* tutorial book, reference manual, or both: *
|
|
* http://www.FreeRTOS.org/Documentation *
|
|
* *
|
|
***************************************************************************
|
|
|
|
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
|
|
the FAQ page "My application does not run, what could be wrong?". Have you
|
|
defined configASSERT()?
|
|
|
|
http://www.FreeRTOS.org/support - In return for receiving this top quality
|
|
embedded software for free we request you assist our global community by
|
|
participating in the support forum.
|
|
|
|
http://www.FreeRTOS.org/training - Investing in training allows your team to
|
|
be as productive as possible as early as possible. Now you can receive
|
|
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
|
|
Ltd, and the world's leading authority on the world's leading RTOS.
|
|
|
|
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
|
|
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
|
|
compatible FAT file system, and our tiny thread aware UDP/IP stack.
|
|
|
|
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
|
|
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
|
|
|
|
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
|
|
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
|
|
licenses offer ticketed support, indemnification and commercial middleware.
|
|
|
|
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
|
|
engineered and independently SIL3 certified version for use in safety and
|
|
mission critical applications that require provable dependability.
|
|
|
|
1 tab == 4 spaces!
|
|
*/
|
|
|
|
#include "FreeRTOSConfig.h"
|
|
|
|
.extern pxCurrentTCB
|
|
.extern vTaskSwitchContext
|
|
.extern xTaskIncrementTick
|
|
.extern vPortISRHandler
|
|
|
|
.global vPortStartFirstTask
|
|
.global vPortYield
|
|
.global vPortTickISR
|
|
.global vPortISRWrapper
|
|
.global vPortSaveFPURegisters
|
|
.global vPortRestoreFPURegisters
|
|
|
|
.set BChainField, 0
|
|
.set NextLRField, BChainField + 4
|
|
.set MSRField, NextLRField + 4
|
|
.set PCField, MSRField + 4
|
|
.set LRField, PCField + 4
|
|
.set CTRField, LRField + 4
|
|
.set XERField, CTRField + 4
|
|
.set CRField, XERField + 4
|
|
.set USPRG0Field, CRField + 4
|
|
.set r0Field, USPRG0Field + 4
|
|
.set r2Field, r0Field + 4
|
|
.set r3r31Field, r2Field + 4
|
|
.set IFrameSize, r3r31Field + ( ( 31 - 3 ) + 1 ) * 4
|
|
|
|
|
|
.macro portSAVE_STACK_POINTER_AND_LR
|
|
|
|
/* Get the address of the TCB. */
|
|
xor R0, R0, R0
|
|
addis R2, R0, pxCurrentTCB@ha
|
|
lwz R2, pxCurrentTCB@l( R2 )
|
|
|
|
/* Store the stack pointer into the TCB */
|
|
stw SP, 0( R2 )
|
|
|
|
/* Save the link register */
|
|
stwu R1, -24( R1 )
|
|
mflr R0
|
|
stw R31, 20( R1 )
|
|
stw R0, 28( R1 )
|
|
mr R31, r1
|
|
|
|
.endm
|
|
|
|
.macro portRESTORE_STACK_POINTER_AND_LR
|
|
|
|
/* Restore the link register */
|
|
lwz R11, 0( R1 )
|
|
lwz R0, 4( R11 )
|
|
mtlr R0
|
|
lwz R31, -4( R11 )
|
|
mr R1, R11
|
|
|
|
/* Get the address of the TCB. */
|
|
xor R0, R0, R0
|
|
addis SP, R0, pxCurrentTCB@ha
|
|
lwz SP, pxCurrentTCB@l( R1 )
|
|
|
|
/* Get the task stack pointer from the TCB. */
|
|
lwz SP, 0( SP )
|
|
|
|
.endm
|
|
|
|
|
|
vPortStartFirstTask:
|
|
|
|
/* Get the address of the TCB. */
|
|
xor R0, R0, R0
|
|
addis SP, R0, pxCurrentTCB@ha
|
|
lwz SP, pxCurrentTCB@l( SP )
|
|
|
|
/* Get the task stack pointer from the TCB. */
|
|
lwz SP, 0( SP )
|
|
|
|
/* Restore MSR register to SRR1. */
|
|
lwz R0, MSRField(R1)
|
|
mtsrr1 R0
|
|
|
|
/* Restore current PC location to SRR0. */
|
|
lwz R0, PCField(R1)
|
|
mtsrr0 R0
|
|
|
|
/* Save USPRG0 register */
|
|
lwz R0, USPRG0Field(R1)
|
|
mtspr 0x100,R0
|
|
|
|
/* Restore Condition register */
|
|
lwz R0, CRField(R1)
|
|
mtcr R0
|
|
|
|
/* Restore Fixed Point Exception register */
|
|
lwz R0, XERField(R1)
|
|
mtxer R0
|
|
|
|
/* Restore Counter register */
|
|
lwz R0, CTRField(R1)
|
|
mtctr R0
|
|
|
|
/* Restore Link register */
|
|
lwz R0, LRField(R1)
|
|
mtlr R0
|
|
|
|
/* Restore remaining GPR registers. */
|
|
lmw R3,r3r31Field(R1)
|
|
|
|
/* Restore r0 and r2. */
|
|
lwz R0, r0Field(R1)
|
|
lwz R2, r2Field(R1)
|
|
|
|
/* Remove frame from stack */
|
|
addi R1,R1,IFrameSize
|
|
|
|
/* Return into the first task */
|
|
rfi
|
|
|
|
|
|
|
|
vPortYield:
|
|
|
|
portSAVE_STACK_POINTER_AND_LR
|
|
bl vTaskSwitchContext
|
|
portRESTORE_STACK_POINTER_AND_LR
|
|
blr
|
|
|
|
vPortTickISR:
|
|
|
|
portSAVE_STACK_POINTER_AND_LR
|
|
bl xTaskIncrementTick
|
|
|
|
#if configUSE_PREEMPTION == 1
|
|
bl vTaskSwitchContext
|
|
#endif
|
|
|
|
/* Clear the interrupt */
|
|
lis R0, 2048
|
|
mttsr R0
|
|
|
|
portRESTORE_STACK_POINTER_AND_LR
|
|
blr
|
|
|
|
vPortISRWrapper:
|
|
|
|
portSAVE_STACK_POINTER_AND_LR
|
|
bl vPortISRHandler
|
|
portRESTORE_STACK_POINTER_AND_LR
|
|
blr
|
|
|
|
#if configUSE_FPU == 1
|
|
|
|
vPortSaveFPURegisters:
|
|
|
|
/* Enable APU and mark FPU as present. */
|
|
mfmsr r0
|
|
xor r30, r30, r30
|
|
oris r30, r30, 512
|
|
ori r30, r30, 8192
|
|
or r0, r0, r30
|
|
mtmsr r0
|
|
|
|
#ifdef USE_DP_FPU
|
|
|
|
/* Buffer address is in r3. Save each flop register into an offset from
|
|
this buffer address. */
|
|
stfd f0, 0(r3)
|
|
stfd f1, 8(r3)
|
|
stfd f2, 16(r3)
|
|
stfd f3, 24(r3)
|
|
stfd f4, 32(r3)
|
|
stfd f5, 40(r3)
|
|
stfd f6, 48(r3)
|
|
stfd f7, 56(r3)
|
|
stfd f8, 64(r3)
|
|
stfd f9, 72(r3)
|
|
stfd f10, 80(r3)
|
|
stfd f11, 88(r3)
|
|
stfd f12, 96(r3)
|
|
stfd f13, 104(r3)
|
|
stfd f14, 112(r3)
|
|
stfd f15, 120(r3)
|
|
stfd f16, 128(r3)
|
|
stfd f17, 136(r3)
|
|
stfd f18, 144(r3)
|
|
stfd f19, 152(r3)
|
|
stfd f20, 160(r3)
|
|
stfd f21, 168(r3)
|
|
stfd f22, 176(r3)
|
|
stfd f23, 184(r3)
|
|
stfd f24, 192(r3)
|
|
stfd f25, 200(r3)
|
|
stfd f26, 208(r3)
|
|
stfd f27, 216(r3)
|
|
stfd f28, 224(r3)
|
|
stfd f29, 232(r3)
|
|
stfd f30, 240(r3)
|
|
stfd f31, 248(r3)
|
|
|
|
/* Also save the FPSCR. */
|
|
mffs f31
|
|
stfs f31, 256(r3)
|
|
|
|
#else
|
|
|
|
/* Buffer address is in r3. Save each flop register into an offset from
|
|
this buffer address. */
|
|
stfs f0, 0(r3)
|
|
stfs f1, 4(r3)
|
|
stfs f2, 8(r3)
|
|
stfs f3, 12(r3)
|
|
stfs f4, 16(r3)
|
|
stfs f5, 20(r3)
|
|
stfs f6, 24(r3)
|
|
stfs f7, 28(r3)
|
|
stfs f8, 32(r3)
|
|
stfs f9, 36(r3)
|
|
stfs f10, 40(r3)
|
|
stfs f11, 44(r3)
|
|
stfs f12, 48(r3)
|
|
stfs f13, 52(r3)
|
|
stfs f14, 56(r3)
|
|
stfs f15, 60(r3)
|
|
stfs f16, 64(r3)
|
|
stfs f17, 68(r3)
|
|
stfs f18, 72(r3)
|
|
stfs f19, 76(r3)
|
|
stfs f20, 80(r3)
|
|
stfs f21, 84(r3)
|
|
stfs f22, 88(r3)
|
|
stfs f23, 92(r3)
|
|
stfs f24, 96(r3)
|
|
stfs f25, 100(r3)
|
|
stfs f26, 104(r3)
|
|
stfs f27, 108(r3)
|
|
stfs f28, 112(r3)
|
|
stfs f29, 116(r3)
|
|
stfs f30, 120(r3)
|
|
stfs f31, 124(r3)
|
|
|
|
/* Also save the FPSCR. */
|
|
mffs f31
|
|
stfs f31, 128(r3)
|
|
|
|
#endif
|
|
|
|
blr
|
|
|
|
#endif /* configUSE_FPU. */
|
|
|
|
|
|
#if configUSE_FPU == 1
|
|
|
|
vPortRestoreFPURegisters:
|
|
|
|
/* Enable APU and mark FPU as present. */
|
|
mfmsr r0
|
|
xor r30, r30, r30
|
|
oris r30, r30, 512
|
|
ori r30, r30, 8192
|
|
or r0, r0, r30
|
|
mtmsr r0
|
|
|
|
#ifdef USE_DP_FPU
|
|
|
|
/* Buffer address is in r3. Restore each flop register from an offset
|
|
into this buffer.
|
|
|
|
First the FPSCR. */
|
|
lfs f31, 256(r3)
|
|
mtfsf f31, 7
|
|
|
|
lfd f0, 0(r3)
|
|
lfd f1, 8(r3)
|
|
lfd f2, 16(r3)
|
|
lfd f3, 24(r3)
|
|
lfd f4, 32(r3)
|
|
lfd f5, 40(r3)
|
|
lfd f6, 48(r3)
|
|
lfd f7, 56(r3)
|
|
lfd f8, 64(r3)
|
|
lfd f9, 72(r3)
|
|
lfd f10, 80(r3)
|
|
lfd f11, 88(r3)
|
|
lfd f12, 96(r3)
|
|
lfd f13, 104(r3)
|
|
lfd f14, 112(r3)
|
|
lfd f15, 120(r3)
|
|
lfd f16, 128(r3)
|
|
lfd f17, 136(r3)
|
|
lfd f18, 144(r3)
|
|
lfd f19, 152(r3)
|
|
lfd f20, 160(r3)
|
|
lfd f21, 168(r3)
|
|
lfd f22, 176(r3)
|
|
lfd f23, 184(r3)
|
|
lfd f24, 192(r3)
|
|
lfd f25, 200(r3)
|
|
lfd f26, 208(r3)
|
|
lfd f27, 216(r3)
|
|
lfd f28, 224(r3)
|
|
lfd f29, 232(r3)
|
|
lfd f30, 240(r3)
|
|
lfd f31, 248(r3)
|
|
|
|
#else
|
|
|
|
/* Buffer address is in r3. Restore each flop register from an offset
|
|
into this buffer.
|
|
|
|
First the FPSCR. */
|
|
lfs f31, 128(r3)
|
|
mtfsf f31, 7
|
|
|
|
lfs f0, 0(r3)
|
|
lfs f1, 4(r3)
|
|
lfs f2, 8(r3)
|
|
lfs f3, 12(r3)
|
|
lfs f4, 16(r3)
|
|
lfs f5, 20(r3)
|
|
lfs f6, 24(r3)
|
|
lfs f7, 28(r3)
|
|
lfs f8, 32(r3)
|
|
lfs f9, 36(r3)
|
|
lfs f10, 40(r3)
|
|
lfs f11, 44(r3)
|
|
lfs f12, 48(r3)
|
|
lfs f13, 52(r3)
|
|
lfs f14, 56(r3)
|
|
lfs f15, 60(r3)
|
|
lfs f16, 64(r3)
|
|
lfs f17, 68(r3)
|
|
lfs f18, 72(r3)
|
|
lfs f19, 76(r3)
|
|
lfs f20, 80(r3)
|
|
lfs f21, 84(r3)
|
|
lfs f22, 88(r3)
|
|
lfs f23, 92(r3)
|
|
lfs f24, 96(r3)
|
|
lfs f25, 100(r3)
|
|
lfs f26, 104(r3)
|
|
lfs f27, 108(r3)
|
|
lfs f28, 112(r3)
|
|
lfs f29, 116(r3)
|
|
lfs f30, 120(r3)
|
|
lfs f31, 124(r3)
|
|
|
|
#endif
|
|
|
|
blr
|
|
|
|
#endif /* configUSE_FPU. */
|
|
|
|
|