This file is part of SimpleRTOS2
/*============================================================================*/ /* SimpleRTOS - Very simple RTOS for Microcontrollers - PIC32 port v2.00 (2014-01-21) isaacbavaresco@yahoo.com.br */ /*============================================================================*/ /* Copyright (c) 2007-2014, Isaac Marino Bavaresco All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Neither the name of the author nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /*============================================================================*/ #if defined __XC32__ || defined __C32_VERSION__ /*============================================================================*/ #include <p32xxxx.h> #include <sys/asm.h> /*============================================================================*/ .set nomips16 .set noreorder /*============================================================================*/ .extern Switch .extern errno .extern FPUOwner /*============================================================================*/ .set noreorder .set noat .global SaveContext .ent SaveContext SaveContext: sw s0,0(sp) lw s0,CurrentTask sw s1,64(s0) lw s1,0(sp) sw s1,60(s0) lw s1,4(sp) sw s1,120(s0) addiu sp,sp,8 lw s1,errno #if defined __PIC32MZ__ sw s1,172(s0) #else /* defined __PIC32MZ__ */ sw s1,144(s0) #endif /* defined __PIC32MZ__ */ mfc0 s1,_CP0_CAUSE sw s1, 124(s0) mfc0 s1,_CP0_STATUS sw s1, 128(s0) mfc0 s1,_CP0_EPC sw s1, 132(s0) /* Here we could re-enable interrups */ sw $1, 0(s0) sw $2, 4(s0) sw $3, 8(s0) sw $4, 12(s0) sw $5, 16(s0) sw $6, 20(s0) sw $7, 24(s0) sw $8, 28(s0) sw $9, 32(s0) sw $10, 36(s0) sw $11, 40(s0) sw $12, 44(s0) sw $13, 48(s0) sw $14, 52(s0) sw $15, 56(s0) /* sw $16, 60(s0) ; s0 and */ /* sw $17, 64(s0) ; s1 were already saved at the very beginning */ sw $18, 68(s0) sw $19, 72(s0) sw $20, 76(s0) sw $21, 80(s0) sw $22, 84(s0) sw $23, 88(s0) sw $24, 92(s0) sw $25, 96(s0) sw $26,100(s0) sw $27,104(s0) sw $28,108(s0) sw $29,112(s0) sw $30,116(s0) /* sw $31,120(s0) ; Already saved */ mfhi s1,$ac0 sw s1, 136(s0) mflo s1,$ac0 sw s1, 140(s0) #if defined __PIC32MZ__ mfhi s1,$ac1 sw s1, 144(s0) mflo s1,$ac1 sw s1, 148(s0) mfhi s1,$ac2 sw s1, 152(s0) mflo s1,$ac2 sw s1, 156(s0) mfhi s1,$ac3 sw s1, 160(s0) mflo s1,$ac3 sw s1, 164(s0) rddsp s1 sw s1, 168(s0) #endif /* defined __PIC32MZ__ */ jr ra nop .end SaveContext /*============================================================================*/ .set noreorder .set noat .global T1Interrupt .global RestoreContext .ent T1Interrupt T1Interrupt: addiu sp,sp,-8 sw ra,4(sp) jal SaveContext nop /*------------------------------------------------------------*/ jal Switch nop /*------------------------------------------------------------*/ RestoreContext: lw s0,CurrentTask lw $1, 0(s0) lw $2, 4(s0) lw $3, 8(s0) lw $4, 12(s0) lw $5, 16(s0) lw $6, 20(s0) lw $7, 24(s0) lw $8, 28(s0) lw $9, 32(s0) lw $10, 36(s0) lw $11, 40(s0) lw $12, 44(s0) lw $13, 48(s0) lw $14, 52(s0) lw $15, 56(s0) /* lw $16, 60(s0) ; s0 and */ /* lw $17, 64(s0) ; s1 will be restored last */ /* lw $18, 68(s0) ; s2 */ /* lw $19, 72(s0) ; s3 */ lw $20, 76(s0) lw $21, 80(s0) lw $22, 84(s0) lw $23, 88(s0) lw $24, 92(s0) lw $25, 96(s0) lw $26,100(s0) lw $27,104(s0) lw $28,108(s0) lw $29,112(s0) lw $30,116(s0) lw $31,120(s0) lw s1, 136(s0) mthi s1,$ac0 lw s1, 140(s0) mtlo s1,$ac0 #if defined __PIC32MZ__ lw s1, 144(s0) mthi s1,$ac1 lw s1, 148(s0) mtlo s1,$ac1 lw s1, 152(s0) mthi s1,$ac2 lw s1, 156(s0) mtlo s1,$ac2 lw s1, 160(s0) mthi s1,$ac3 lw s1, 164(s0) mtlo s1,$ac3 lw s1, 168(s0) wrdsp s1 #endif /* defined __PIC32MZ__ */ /* Here we must disable interrups */ lw s1, 124(s0) mtc0 s1,_CP0_CAUSE #if defined __PIC32MZ__ && __PIC32_FEATURE_SET1 == 'F' lw s2,FPUOwner beq s0,s2,1f lw s1, 128(s0) ins s1,zero,29,1 1: #else /* defined __PIC32MZ__ && __PIC32_FEATURE_SET1 == 'F' */ lw s1, 128(s0) #endif /* defined __PIC32MZ__ && __PIC32_FEATURE_SET1 == 'F' */ mtc0 s1,_CP0_STATUS lw s1, 132(s0) mtc0 s1,_CP0_EPC #if defined __PIC32MZ__ lw s1,172(s0) #else /* defined __PIC32MZ__ */ lw s1,144(s0) #endif /* defined __PIC32MZ__ */ la s2,errno sw s1,(s2) lw s3,72(s0) lw s2,68(s0) lw s1,64(s0) lw s0,60(s0) eret /*------------------------------------------------------------*/ .end T1Interrupt /*============================================================================*/ .extern CurrentTask /*============================================================================*/ .global ForceYield .ent ForceYield ForceYield: mfc0 t0,_CP0_STATUS ori t0,t0,2 /* Disable interrupts */ mtc0 t0,_CP0_STATUS mtc0 ra,_CP0_EPC /*------------------------------------------------------------*/ addiu sp,sp,-8 sw ra,4(sp) jal SaveContext nop /*------------------------------------------------------------*/ lw t0,HighestReadyPriority sll t0,t0,2 la t1,ReadyTasks addu t1,t1,t0 lw t0,0(t1) la t1,CurrentTask sw t0,0(t1) /*------------------------------------------------------------*/ j RestoreContext nop /*------------------------------------------------------------*/ .end ForceYield /*============================================================================*/ #endif /* defined __XC32__ || defined __C32_VERSION__ */ /*============================================================================*/ #if defined __PIC32MZ__ && __PIC32_FEATURE_SET1 == 'F' .global SaveFP .ent SaveFP SaveFP: sdc1 $f0,0(a0) sdc1 $f1,8(a0) sdc1 $f2,16(a0) sdc1 $f3,24(a0) sdc1 $f4,32(a0) sdc1 $f5,40(a0) sdc1 $f6,48(a0) sdc1 $f7,56(a0) sdc1 $f8,64(a0) sdc1 $f9,72(a0) sdc1 $f10,80(a0) sdc1 $f11,88(a0) sdc1 $f12,96(a0) sdc1 $f13,104(a0) sdc1 $f14,112(a0) sdc1 $f15,120(a0) sdc1 $f16,128(a0) sdc1 $f17,136(a0) sdc1 $f18,144(a0) sdc1 $f19,152(a0) sdc1 $f20,160(a0) sdc1 $f21,168(a0) sdc1 $f22,176(a0) sdc1 $f23,184(a0) sdc1 $f24,192(a0) sdc1 $f25,200(a0) sdc1 $f26,208(a0) sdc1 $f27,216(a0) sdc1 $f28,224(a0) sdc1 $f29,232(a0) sdc1 $f30,240(a0) sdc1 $f31,248(a0) cfc1 a1, $f31 sw a1,256(a0) jr ra nop .end SaveFP /*============================================================================*/ .global RestoreFP .ent RestoreFP RestoreFP: lw a1,256(a0) ctc1 a1, $f31 ldc1 $f31,248(a0) ldc1 $f30,240(a0) ldc1 $f29,232(a0) ldc1 $f28,224(a0) ldc1 $f27,216(a0) ldc1 $f26,208(a0) ldc1 $f25,200(a0) ldc1 $f24,192(a0) ldc1 $f23,184(a0) ldc1 $f22,176(a0) ldc1 $f21,168(a0) ldc1 $f20,160(a0) ldc1 $f19,152(a0) ldc1 $f18,144(a0) ldc1 $f17,136(a0) ldc1 $f16,128(a0) ldc1 $f15,120(a0) ldc1 $f14,112(a0) ldc1 $f13,104(a0) ldc1 $f12,96(a0) ldc1 $f11,88(a0) ldc1 $f10,80(a0) ldc1 $f9,72(a0) ldc1 $f8,64(a0) ldc1 $f7,56(a0) ldc1 $f6,48(a0) ldc1 $f5,40(a0) ldc1 $f4,32(a0) ldc1 $f3,24(a0) ldc1 $f2,16(a0) ldc1 $f1,8(a0) ldc1 $f0,0(a0) jr ra nop .end RestoreFP #endif /* defined __PIC32MZ__ && __PIC32_FEATURE_SET1 == 'F' */ /*============================================================================*/
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