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A simple RTOS for microcontrollers based upon concepts of FreeRTOS

This file is part of SimpleRTOS2

by Isaac Marino Bavaresco

This is file "SimpleRTOS\PortPIC32-S.S"

/*============================================================================*/
/*
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' */

/*============================================================================*/

file: /Techref/member/IMB-yahoo-J86/PortPIC32MX-S.S.htm, 12KB, , updated: 2016/1/14 19:44, local time: 2022/12/6 09:28, owner: IMB-yahoo-J86,
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