mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
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989bc332b2
* 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>
269 lines
6.3 KiB
ArmAsm
269 lines
6.3 KiB
ArmAsm
/*
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* FreeRTOS Kernel V10.4.3
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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* 1 tab == 4 spaces!
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*/
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#include <xc.h>
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#include <sys/asm.h>
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#include "ISR_Support.h"
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.set nomips16
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.set noreorder
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.extern pxCurrentTCB
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.extern vTaskSwitchContext
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.extern vPortIncrementTick
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.extern xISRStackTop
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.global vPortStartFirstTask
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.global vPortYieldISR
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.global vPortTickInterruptHandler
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/******************************************************************/
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.set noreorder
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.set noat
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.ent vPortTickInterruptHandler
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vPortTickInterruptHandler:
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portSAVE_CONTEXT
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jal vPortIncrementTick
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nop
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portRESTORE_CONTEXT
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.end vPortTickInterruptHandler
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/******************************************************************/
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.set noreorder
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.set noat
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.ent vPortStartFirstTask
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vPortStartFirstTask:
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/* Simply restore the context of the highest priority task that has been
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created so far. */
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portRESTORE_CONTEXT
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.end vPortStartFirstTask
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/*******************************************************************/
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.set noreorder
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.set noat
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.ent vPortYieldISR
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vPortYieldISR:
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/* Make room for the context. First save the current status so it can be
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manipulated. */
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addiu sp, sp, -portCONTEXT_SIZE
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mfc0 k1, _CP0_STATUS
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/* Also save s6 and s5 so they can be used. Any nesting interrupts should
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maintain the values of these registers across the ISR. */
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sw s6, 44(sp)
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sw s5, 40(sp)
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sw k1, portSTATUS_STACK_LOCATION(sp)
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/* Prepare to re-enabled interrupt above the kernel priority. */
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ins k1, zero, 10, 6
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ori k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 )
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ins k1, zero, 1, 4
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/* s5 is used as the frame pointer. */
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add s5, zero, sp
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/* Swap to the system stack. This is not conditional on the nesting
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count as this interrupt is always the lowest priority and therefore
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the nesting is always 0. */
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la sp, xISRStackTop
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lw sp, (sp)
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/* Set the nesting count. */
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la k0, uxInterruptNesting
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addiu s6, zero, 1
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sw s6, 0(k0)
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/* s6 holds the EPC value, this is saved with the rest of the context
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after interrupts are enabled. */
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mfc0 s6, _CP0_EPC
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/* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */
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mtc0 k1, _CP0_STATUS
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/* Save the context into the space just created. s6 is saved again
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here as it now contains the EPC value. */
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sw ra, 120(s5)
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sw s8, 116(s5)
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sw t9, 112(s5)
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sw t8, 108(s5)
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sw t7, 104(s5)
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sw t6, 100(s5)
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sw t5, 96(s5)
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sw t4, 92(s5)
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sw t3, 88(s5)
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sw t2, 84(s5)
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sw t1, 80(s5)
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sw t0, 76(s5)
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sw a3, 72(s5)
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sw a2, 68(s5)
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sw a1, 64(s5)
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sw a0, 60(s5)
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sw v1, 56(s5)
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sw v0, 52(s5)
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sw s7, 48(s5)
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sw s6, portEPC_STACK_LOCATION(s5)
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/* s5 and s6 has already been saved. */
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sw s4, 36(s5)
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sw s3, 32(s5)
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sw s2, 28(s5)
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sw s1, 24(s5)
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sw s0, 20(s5)
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sw $1, 16(s5)
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/* s7 is used as a scratch register as this should always be saved across
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nesting interrupts. */
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mfhi s7
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sw s7, 12(s5)
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mflo s7
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sw s7, 8(s5)
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/* Save the stack pointer to the task. */
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la s7, pxCurrentTCB
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lw s7, (s7)
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sw s5, (s7)
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/* Set the interrupt mask to the max priority that can use the API. The
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yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which
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is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever
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raise the IPL value and never lower it. */
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di
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ehb
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mfc0 s7, _CP0_STATUS
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ins s7, zero, 10, 6
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ori s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1
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/* This mtc0 re-enables interrupts, but only above
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configMAX_SYSCALL_INTERRUPT_PRIORITY. */
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mtc0 s6, _CP0_STATUS
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ehb
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/* Clear the software interrupt in the core. */
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mfc0 s6, _CP0_CAUSE
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ins s6, zero, 8, 1
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mtc0 s6, _CP0_CAUSE
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ehb
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/* Clear the interrupt in the interrupt controller. */
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la s6, IFS0CLR
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addiu s4, zero, 2
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sw s4, (s6)
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jal vTaskSwitchContext
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nop
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/* Clear the interrupt mask again. The saved status value is still in s7. */
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mtc0 s7, _CP0_STATUS
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ehb
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/* Restore the stack pointer from the TCB. */
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la s0, pxCurrentTCB
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lw s0, (s0)
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lw s5, (s0)
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/* Restore the rest of the context. */
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lw s0, 8(s5)
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mtlo s0
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lw s0, 12(s5)
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mthi s0
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lw $1, 16(s5)
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lw s0, 20(s5)
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lw s1, 24(s5)
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lw s2, 28(s5)
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lw s3, 32(s5)
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lw s4, 36(s5)
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/* s5 is loaded later. */
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lw s6, 44(s5)
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lw s7, 48(s5)
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lw v0, 52(s5)
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lw v1, 56(s5)
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lw a0, 60(s5)
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lw a1, 64(s5)
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lw a2, 68(s5)
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lw a3, 72(s5)
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lw t0, 76(s5)
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lw t1, 80(s5)
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lw t2, 84(s5)
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lw t3, 88(s5)
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lw t4, 92(s5)
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lw t5, 96(s5)
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lw t6, 100(s5)
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lw t7, 104(s5)
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lw t8, 108(s5)
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lw t9, 112(s5)
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lw s8, 116(s5)
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lw ra, 120(s5)
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/* Protect access to the k registers, and others. */
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di
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ehb
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/* Set nesting back to zero. As the lowest priority interrupt this
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interrupt cannot have nested. */
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la k0, uxInterruptNesting
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sw zero, 0(k0)
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/* Switch back to use the real stack pointer. */
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add sp, zero, s5
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/* Restore the real s5 value. */
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lw s5, 40(sp)
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/* Pop the status and epc values. */
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lw k1, portSTATUS_STACK_LOCATION(sp)
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lw k0, portEPC_STACK_LOCATION(sp)
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/* Remove stack frame. */
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addiu sp, sp, portCONTEXT_SIZE
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mtc0 k1, _CP0_STATUS
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mtc0 k0, _CP0_EPC
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ehb
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eret
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nop
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.end vPortYieldISR
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