|
|
|
|
/*
|
|
|
|
|
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
|
|
|
|
|
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
|
|
|
|
*
|
|
|
|
|
* SPDX-License-Identifier: MIT
|
|
|
|
|
*
|
|
|
|
|
* 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
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#if defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ )
|
|
|
|
|
|
|
|
|
|
.global _vPortYield
|
|
|
|
|
.extern _vTaskSwitchContext
|
|
|
|
|
.extern uxCriticalNesting
|
|
|
|
|
|
|
|
|
|
_vPortYield:
|
|
|
|
|
|
|
|
|
|
PUSH SR /* Save the SR used by the task.... */
|
|
|
|
|
PUSH W0 /* ....then disable interrupts. */
|
|
|
|
|
MOV #32, W0
|
|
|
|
|
MOV W0, SR
|
|
|
|
|
PUSH W1 /* Save registers to the stack. */
|
|
|
|
|
PUSH.D W2
|
|
|
|
|
PUSH.D W4
|
|
|
|
|
PUSH.D W6
|
|
|
|
|
PUSH.D W8
|
|
|
|
|
PUSH.D W10
|
|
|
|
|
PUSH.D W12
|
|
|
|
|
PUSH W14
|
|
|
|
|
PUSH RCOUNT
|
|
|
|
|
PUSH TBLPAG
|
|
|
|
|
|
|
|
|
|
PUSH CORCON
|
|
|
|
|
#ifdef __HAS_EDS__
|
|
|
|
|
PUSH DSRPAG
|
|
|
|
|
PUSH DSWPAG
|
|
|
|
|
#else
|
|
|
|
|
PUSH PSVPAG
|
|
|
|
|
#endif /* __HAS_EDS__ */
|
|
|
|
|
MOV _uxCriticalNesting, W0 /* Save the critical nesting counter for the task. */
|
|
|
|
|
PUSH W0
|
|
|
|
|
MOV _pxCurrentTCB, W0 /* Save the new top of stack into the TCB. */
|
|
|
|
|
MOV W15, [W0]
|
|
|
|
|
|
|
|
|
|
call _vTaskSwitchContext
|
|
|
|
|
|
|
|
|
|
MOV _pxCurrentTCB, W0 /* Restore the stack pointer for the task. */
|
|
|
|
|
MOV [W0], W15
|
|
|
|
|
POP W0 /* Restore the critical nesting counter for the task. */
|
|
|
|
|
MOV W0, _uxCriticalNesting
|
|
|
|
|
#ifdef __HAS_EDS__
|
|
|
|
|
POP DSWPAG
|
|
|
|
|
POP DSRPAG
|
|
|
|
|
#else
|
|
|
|
|
POP PSVPAG
|
|
|
|
|
#endif /* __HAS_EDS__ */
|
|
|
|
|
POP CORCON
|
|
|
|
|
POP TBLPAG
|
|
|
|
|
POP RCOUNT /* Restore the registers from the stack. */
|
|
|
|
|
POP W14
|
|
|
|
|
POP.D W12
|
|
|
|
|
POP.D W10
|
|
|
|
|
POP.D W8
|
|
|
|
|
POP.D W6
|
|
|
|
|
POP.D W4
|
|
|
|
|
POP.D W2
|
|
|
|
|
POP.D W0
|
|
|
|
|
POP SR
|
|
|
|
|
|
|
|
|
|
return
|
|
|
|
|
|
|
|
|
|
.end
|
|
|
|
|
|
|
|
|
|
#endif /* defined( __PIC24E__ ) || defined ( __PIC24F__ ) || defined( __PIC24FK__ ) || defined( __PIC24H__ ) */
|
