mirror of
https://github.com/FreeRTOS/FreeRTOS-Kernel.git
synced 2025-11-04 11:09:01 +01:00
327 lines
9.2 KiB
ArmAsm
327 lines
9.2 KiB
ArmAsm
/*
|
|
* 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
|
|
*
|
|
*/
|
|
|
|
/* FreeRTOS includes. */
|
|
#include "FreeRTOSConfig.h"
|
|
|
|
/* Xilinx library includes. */
|
|
#include "microblaze_exceptions_g.h"
|
|
#include "xparameters.h"
|
|
|
|
/* The context is oversized to allow functions called from the ISR to write
|
|
back into the caller stack. */
|
|
#if( XPAR_MICROBLAZE_USE_FPU != 0 )
|
|
#define portCONTEXT_SIZE 136
|
|
#define portMINUS_CONTEXT_SIZE -136
|
|
#else
|
|
#define portCONTEXT_SIZE 132
|
|
#define portMINUS_CONTEXT_SIZE -132
|
|
#endif
|
|
|
|
/* Offsets from the stack pointer at which saved registers are placed. */
|
|
#define portR31_OFFSET 4
|
|
#define portR30_OFFSET 8
|
|
#define portR29_OFFSET 12
|
|
#define portR28_OFFSET 16
|
|
#define portR27_OFFSET 20
|
|
#define portR26_OFFSET 24
|
|
#define portR25_OFFSET 28
|
|
#define portR24_OFFSET 32
|
|
#define portR23_OFFSET 36
|
|
#define portR22_OFFSET 40
|
|
#define portR21_OFFSET 44
|
|
#define portR20_OFFSET 48
|
|
#define portR19_OFFSET 52
|
|
#define portR18_OFFSET 56
|
|
#define portR17_OFFSET 60
|
|
#define portR16_OFFSET 64
|
|
#define portR15_OFFSET 68
|
|
#define portR14_OFFSET 72
|
|
#define portR13_OFFSET 76
|
|
#define portR12_OFFSET 80
|
|
#define portR11_OFFSET 84
|
|
#define portR10_OFFSET 88
|
|
#define portR9_OFFSET 92
|
|
#define portR8_OFFSET 96
|
|
#define portR7_OFFSET 100
|
|
#define portR6_OFFSET 104
|
|
#define portR5_OFFSET 108
|
|
#define portR4_OFFSET 112
|
|
#define portR3_OFFSET 116
|
|
#define portR2_OFFSET 120
|
|
#define portCRITICAL_NESTING_OFFSET 124
|
|
#define portMSR_OFFSET 128
|
|
#define portFSR_OFFSET 132
|
|
|
|
.extern pxCurrentTCB
|
|
.extern XIntc_DeviceInterruptHandler
|
|
.extern vTaskSwitchContext
|
|
.extern uxCriticalNesting
|
|
.extern pulISRStack
|
|
.extern ulTaskSwitchRequested
|
|
.extern vPortExceptionHandler
|
|
.extern pulStackPointerOnFunctionEntry
|
|
|
|
.global _interrupt_handler
|
|
.global VPortYieldASM
|
|
.global vPortStartFirstTask
|
|
.global vPortExceptionHandlerEntry
|
|
|
|
|
|
.macro portSAVE_CONTEXT
|
|
|
|
/* Make room for the context on the stack. */
|
|
addik r1, r1, portMINUS_CONTEXT_SIZE
|
|
|
|
/* Stack general registers. */
|
|
swi r31, r1, portR31_OFFSET
|
|
swi r30, r1, portR30_OFFSET
|
|
swi r29, r1, portR29_OFFSET
|
|
swi r28, r1, portR28_OFFSET
|
|
swi r27, r1, portR27_OFFSET
|
|
swi r26, r1, portR26_OFFSET
|
|
swi r25, r1, portR25_OFFSET
|
|
swi r24, r1, portR24_OFFSET
|
|
swi r23, r1, portR23_OFFSET
|
|
swi r22, r1, portR22_OFFSET
|
|
swi r21, r1, portR21_OFFSET
|
|
swi r20, r1, portR20_OFFSET
|
|
swi r19, r1, portR19_OFFSET
|
|
swi r18, r1, portR18_OFFSET
|
|
swi r17, r1, portR17_OFFSET
|
|
swi r16, r1, portR16_OFFSET
|
|
swi r15, r1, portR15_OFFSET
|
|
/* R14 is saved later as it needs adjustment if a yield is performed. */
|
|
swi r13, r1, portR13_OFFSET
|
|
swi r12, r1, portR12_OFFSET
|
|
swi r11, r1, portR11_OFFSET
|
|
swi r10, r1, portR10_OFFSET
|
|
swi r9, r1, portR9_OFFSET
|
|
swi r8, r1, portR8_OFFSET
|
|
swi r7, r1, portR7_OFFSET
|
|
swi r6, r1, portR6_OFFSET
|
|
swi r5, r1, portR5_OFFSET
|
|
swi r4, r1, portR4_OFFSET
|
|
swi r3, r1, portR3_OFFSET
|
|
swi r2, r1, portR2_OFFSET
|
|
|
|
/* Stack the critical section nesting value. */
|
|
lwi r18, r0, uxCriticalNesting
|
|
swi r18, r1, portCRITICAL_NESTING_OFFSET
|
|
|
|
/* Stack MSR. */
|
|
mfs r18, rmsr
|
|
swi r18, r1, portMSR_OFFSET
|
|
|
|
#if( XPAR_MICROBLAZE_USE_FPU != 0 )
|
|
/* Stack FSR. */
|
|
mfs r18, rfsr
|
|
swi r18, r1, portFSR_OFFSET
|
|
#endif
|
|
|
|
/* Save the top of stack value to the TCB. */
|
|
lwi r3, r0, pxCurrentTCB
|
|
sw r1, r0, r3
|
|
|
|
.endm
|
|
|
|
.macro portRESTORE_CONTEXT
|
|
|
|
/* Load the top of stack value from the TCB. */
|
|
lwi r18, r0, pxCurrentTCB
|
|
lw r1, r0, r18
|
|
|
|
/* Restore the general registers. */
|
|
lwi r31, r1, portR31_OFFSET
|
|
lwi r30, r1, portR30_OFFSET
|
|
lwi r29, r1, portR29_OFFSET
|
|
lwi r28, r1, portR28_OFFSET
|
|
lwi r27, r1, portR27_OFFSET
|
|
lwi r26, r1, portR26_OFFSET
|
|
lwi r25, r1, portR25_OFFSET
|
|
lwi r24, r1, portR24_OFFSET
|
|
lwi r23, r1, portR23_OFFSET
|
|
lwi r22, r1, portR22_OFFSET
|
|
lwi r21, r1, portR21_OFFSET
|
|
lwi r20, r1, portR20_OFFSET
|
|
lwi r19, r1, portR19_OFFSET
|
|
lwi r17, r1, portR17_OFFSET
|
|
lwi r16, r1, portR16_OFFSET
|
|
lwi r15, r1, portR15_OFFSET
|
|
lwi r14, r1, portR14_OFFSET
|
|
lwi r13, r1, portR13_OFFSET
|
|
lwi r12, r1, portR12_OFFSET
|
|
lwi r11, r1, portR11_OFFSET
|
|
lwi r10, r1, portR10_OFFSET
|
|
lwi r9, r1, portR9_OFFSET
|
|
lwi r8, r1, portR8_OFFSET
|
|
lwi r7, r1, portR7_OFFSET
|
|
lwi r6, r1, portR6_OFFSET
|
|
lwi r5, r1, portR5_OFFSET
|
|
lwi r4, r1, portR4_OFFSET
|
|
lwi r3, r1, portR3_OFFSET
|
|
lwi r2, r1, portR2_OFFSET
|
|
|
|
/* Reload the rmsr from the stack. */
|
|
lwi r18, r1, portMSR_OFFSET
|
|
mts rmsr, r18
|
|
|
|
#if( XPAR_MICROBLAZE_USE_FPU != 0 )
|
|
/* Reload the FSR from the stack. */
|
|
lwi r18, r1, portFSR_OFFSET
|
|
mts rfsr, r18
|
|
#endif
|
|
|
|
/* Load the critical nesting value. */
|
|
lwi r18, r1, portCRITICAL_NESTING_OFFSET
|
|
swi r18, r0, uxCriticalNesting
|
|
|
|
/* Test the critical nesting value. If it is non zero then the task last
|
|
exited the running state using a yield. If it is zero, then the task
|
|
last exited the running state through an interrupt. */
|
|
xori r18, r18, 0
|
|
bnei r18, exit_from_yield
|
|
|
|
/* r18 was being used as a temporary. Now restore its true value from the
|
|
stack. */
|
|
lwi r18, r1, portR18_OFFSET
|
|
|
|
/* Remove the stack frame. */
|
|
addik r1, r1, portCONTEXT_SIZE
|
|
|
|
/* Return using rtid so interrupts are re-enabled as this function is
|
|
exited. */
|
|
rtid r14, 0
|
|
or r0, r0, r0
|
|
|
|
.endm
|
|
|
|
/* This function is used to exit portRESTORE_CONTEXT() if the task being
|
|
returned to last left the Running state by calling taskYIELD() (rather than
|
|
being preempted by an interrupt). */
|
|
.text
|
|
.align 4
|
|
exit_from_yield:
|
|
|
|
/* r18 was being used as a temporary. Now restore its true value from the
|
|
stack. */
|
|
lwi r18, r1, portR18_OFFSET
|
|
|
|
/* Remove the stack frame. */
|
|
addik r1, r1, portCONTEXT_SIZE
|
|
|
|
/* Return to the task. */
|
|
rtsd r14, 0
|
|
or r0, r0, r0
|
|
|
|
|
|
.text
|
|
.align 4
|
|
_interrupt_handler:
|
|
|
|
portSAVE_CONTEXT
|
|
|
|
/* Stack the return address. */
|
|
swi r14, r1, portR14_OFFSET
|
|
|
|
/* Switch to the ISR stack. */
|
|
lwi r1, r0, pulISRStack
|
|
|
|
/* The parameter to the interrupt handler. */
|
|
ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE
|
|
|
|
/* Execute any pending interrupts. */
|
|
bralid r15, XIntc_DeviceInterruptHandler
|
|
or r0, r0, r0
|
|
|
|
/* See if a new task should be selected to execute. */
|
|
lwi r18, r0, ulTaskSwitchRequested
|
|
or r18, r18, r0
|
|
|
|
/* If ulTaskSwitchRequested is already zero, then jump straight to
|
|
restoring the task that is already in the Running state. */
|
|
beqi r18, task_switch_not_requested
|
|
|
|
/* Set ulTaskSwitchRequested back to zero as a task switch is about to be
|
|
performed. */
|
|
swi r0, r0, ulTaskSwitchRequested
|
|
|
|
/* ulTaskSwitchRequested was not 0 when tested. Select the next task to
|
|
execute. */
|
|
bralid r15, vTaskSwitchContext
|
|
or r0, r0, r0
|
|
|
|
task_switch_not_requested:
|
|
|
|
/* Restore the context of the next task scheduled to execute. */
|
|
portRESTORE_CONTEXT
|
|
|
|
|
|
.text
|
|
.align 4
|
|
VPortYieldASM:
|
|
|
|
portSAVE_CONTEXT
|
|
|
|
/* Modify the return address so a return is done to the instruction after
|
|
the call to VPortYieldASM. */
|
|
addi r14, r14, 8
|
|
swi r14, r1, portR14_OFFSET
|
|
|
|
/* Switch to use the ISR stack. */
|
|
lwi r1, r0, pulISRStack
|
|
|
|
/* Select the next task to execute. */
|
|
bralid r15, vTaskSwitchContext
|
|
or r0, r0, r0
|
|
|
|
/* Restore the context of the next task scheduled to execute. */
|
|
portRESTORE_CONTEXT
|
|
|
|
.text
|
|
.align 4
|
|
vPortStartFirstTask:
|
|
|
|
portRESTORE_CONTEXT
|
|
|
|
|
|
|
|
#if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
|
|
|
|
.text
|
|
.align 4
|
|
vPortExceptionHandlerEntry:
|
|
|
|
/* Take a copy of the stack pointer before vPortExecptionHandler is called,
|
|
storing its value prior to the function stack frame being created. */
|
|
swi r1, r0, pulStackPointerOnFunctionEntry
|
|
bralid r15, vPortExceptionHandler
|
|
or r0, r0, r0
|
|
|
|
#endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */
|