begriffs open source - cmsis-freertos/blob - Source/portable/IAR/AVR32_UC3/portmacro.h

   1 /*
   2  * FreeRTOS Kernel V11.2.0
   3  * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
   4  *
   5  * SPDX-License-Identifier: MIT AND BSD-3-Clause
   6  *
   7  * Permission is hereby granted, free of charge, to any person obtaining a copy of
   8  * this software and associated documentation files (the "Software"), to deal in
   9  * the Software without restriction, including without limitation the rights to
  10  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
  11  * the Software, and to permit persons to whom the Software is furnished to do so,
  12  * subject to the following conditions:
  13  *
  14  * The above copyright notice and this permission notice shall be included in all
  15  * copies or substantial portions of the Software.
  16  *
  17  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  18  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  19  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
  20  * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
  21  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  22  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  23  *
  24  * https://www.FreeRTOS.org
  25  * https://github.com/FreeRTOS
  26  *
  27  */
  28
  29 /*This file has been prepared for Doxygen automatic documentation generation.*/
  30
  31 /*! \file *********************************************************************
  32  *
  33  * \brief FreeRTOS port header for AVR32 UC3.
  34  *
  35  * - Compiler:           IAR EWAVR32
  36  * - Supported devices:  All AVR32 devices can be used.
  37  * - AppNote:
  38  *
  39  * \author               Atmel Corporation (Now Microchip):
  40  *                                        https://www.microchip.com
  41  *                       Support and FAQ: https://www.microchip.com/support
  42  *
  43  *****************************************************************************/
  44
  45 /*
  46  * Copyright (c) 2007, Atmel Corporation All rights reserved.
  47  *
  48  * Redistribution and use in source and binary forms, with or without
  49  * modification, are permitted provided that the following conditions are met:
  50  *
  51  * 1. Redistributions of source code must retain the above copyright notice,
  52  * this list of conditions and the following disclaimer.
  53  *
  54  * 2. Redistributions in binary form must reproduce the above copyright notice,
  55  * this list of conditions and the following disclaimer in the documentation
  56  * and/or other materials provided with the distribution.
  57  *
  58  * 3. The name of ATMEL may not be used to endorse or promote products derived
  59  * from this software without specific prior written permission.
  60  *
  61  * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED
  62  * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  63  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
  64  * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
  65  * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  66  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  67  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  68  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  69  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
  70  * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  71  */
  72
  73
  74
  75 #ifndef PORTMACRO_H
  76 #define PORTMACRO_H
  77
  78 /*-----------------------------------------------------------
  79  * Port specific definitions.
  80  *
  81  * The settings in this file configure FreeRTOS correctly for the
  82  * given hardware and compiler.
  83  *
  84  * These settings should not be altered.
  85  *-----------------------------------------------------------
  86  */
  87 #include <avr32/io.h>
  88 #include "intc.h"
  89 #include "compiler.h"
  90
  91 /* *INDENT-OFF* */
  92 #ifdef __cplusplus
  93     extern "C" {
  94 #endif
  95 /* *INDENT-ON* */
  96
  97
  98 /* Type definitions. */
  99 #define portCHAR          char
 100 #define portFLOAT         float
 101 #define portDOUBLE        double
 102 #define portLONG          long
 103 #define portSHORT         short
 104 #define portSTACK_TYPE    uint32_t
 105 #define portBASE_TYPE     long
 106
 107 typedef portSTACK_TYPE   StackType_t;
 108 typedef long             BaseType_t;
 109 typedef unsigned long    UBaseType_t;
 110
 111
 112 #define TASK_DELAY_MS( x )     ( ( x ) / portTICK_PERIOD_MS )
 113 #define TASK_DELAY_S( x )      ( ( x ) * 1000 / portTICK_PERIOD_MS )
 114 #define TASK_DELAY_MIN( x )    ( ( x ) * 60 * 1000 / portTICK_PERIOD_MS )
 115
 116 #define configTICK_TC_IRQ    ATPASTE2( AVR32_TC_IRQ, configTICK_TC_CHANNEL )
 117
 118 #if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
 119     typedef uint16_t   TickType_t;
 120     #define portMAX_DELAY    ( TickType_t ) 0xffff
 121 #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
 122     typedef uint32_t   TickType_t;
 123     #define portMAX_DELAY    ( TickType_t ) ( 0xFFFFFFFFUL )
 124 #else
 125     #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
 126 #endif
 127 /*-----------------------------------------------------------*/
 128
 129 /* Architecture specifics. */
 130 #define portSTACK_GROWTH      ( -1 )
 131 #define portTICK_PERIOD_MS    ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
 132 #define portBYTE_ALIGNMENT    4
 133 #define portNOP()    { __asm__ __volatile__ ( "nop" ); }
 134 /*-----------------------------------------------------------*/
 135
 136
 137 /*-----------------------------------------------------------*/
 138
 139 /* INTC-specific. */
 140 #define DISABLE_ALL_EXCEPTIONS()        Disable_global_exception()
 141 #define ENABLE_ALL_EXCEPTIONS()         Enable_global_exception()
 142
 143 #define DISABLE_ALL_INTERRUPTS()        Disable_global_interrupt()
 144 #define ENABLE_ALL_INTERRUPTS()         Enable_global_interrupt()
 145
 146 #define DISABLE_INT_LEVEL( int_lev )    Disable_interrupt_level( int_lev )
 147 #define ENABLE_INT_LEVEL( int_lev )     Enable_interrupt_level( int_lev )
 148
 149
 150 /*
 151  * Debug trace.
 152  * Activated if and only if configDBG is nonzero.
 153  * Prints a formatted string to stdout.
 154  * The current source file name and line number are output with a colon before
 155  * the formatted string.
 156  * A carriage return and a linefeed are appended to the output.
 157  * stdout is redirected to the USART configured by configDBG_USART.
 158  * The parameters are the same as for the standard printf function.
 159  * There is no return value.
 160  * SHALL NOT BE CALLED FROM WITHIN AN INTERRUPT as fputs and printf use malloc,
 161  * which is interrupt-unsafe with the current __malloc_lock and __malloc_unlock.
 162  */
 163 #if configDBG
 164     #define portDBG_TRACE( ... )                                 \
 165     {                                                            \
 166         fputs( __FILE__ ":" ASTRINGZ( __LINE__ ) ": ", stdout ); \
 167         printf( __VA_ARGS__ );                                   \
 168         fputs( "\r\n", stdout );                                 \
 169     }
 170 #else
 171     #define portDBG_TRACE( ... )
 172 #endif
 173
 174
 175 /* Critical section management. */
 176 #define portDISABLE_INTERRUPTS()    DISABLE_ALL_INTERRUPTS()
 177 #define portENABLE_INTERRUPTS()     ENABLE_ALL_INTERRUPTS()
 178
 179
 180 extern void vPortEnterCritical( void );
 181 extern void vPortExitCritical( void );
 182
 183 #define portENTER_CRITICAL()    vPortEnterCritical();
 184 #define portEXIT_CRITICAL()     vPortExitCritical();
 185
 186
 187 /* Added as there is no such function in FreeRTOS. */
 188 extern void * pvPortRealloc( void * pv,
 189                              size_t xSize );
 190 /*-----------------------------------------------------------*/
 191
 192
 193 /*=============================================================================================*/
 194
 195 /*
 196  * Restore Context for cases other than INTi.
 197  */
 198 #define portRESTORE_CONTEXT()                                                                                                                                                                                                                                                                                                                    \
 199     {                                                                                                                                                                                                                                                                                                                                            \
 200         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                                                                                                                              \
 201         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                                                                                                                                            \
 202                                                                                                                                                                                                                                                                                                                                                  \
 203         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                   \
 204             /* Set SP to point to new stack */                                                                                                                                                                                                                                                                                                   \
 205             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                             \n\t"                                                                                                                                                                                                                                    \
 206                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                             \n\t"                                                                                                                                                                                       \
 207                                                                                                       "ld.w    r0, r8[0]                                                                      \n\t"                                                                                                                                              \
 208                                                                                                       "ld.w    sp, r0[0]                                                                      \n\t"                                                                                                                                              \
 209                                                                                                                                                                                                                                                                                                                                                  \
 210             /* Restore ulCriticalNesting variable */                                                                                                                                                                                                                                                                                             \
 211                                                                                                       "ld.w    r0, sp++                                                                       \n\t"                                                                                                                                              \
 212                                                                                                       "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                        \n\t"                                                                                                                                          \
 213                                                                                                                                                         "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                        \n\t"                                                                                        \
 214                                                                                                                                                                                                           "st.w    r8[0], r0                                                                      \n\t"                                          \
 215                                                                                                                                                                                                                                                                                                                                                  \
 216             /* Restore R0..R7 */                                                                                                                                                                                                                                                                                                                 \
 217                                                                                                                                                                                                           "ldm     sp++, r0-r7                                                                    \n\t"                                          \
 218             /* R0-R7 should not be used below this line */                                                                                                                                                                                                                                                                                       \
 219             /* Skip PC and SR (will do it at the end) */                                                                                                                                                                                                                                                                                         \
 220                                                                                                                                                                                                           "sub     sp, -2*4                                                                       \n\t"                                          \
 221             /* Restore R8..R12 and LR */                                                                                                                                                                                                                                                                                                         \
 222                                                                                                                                                                                                           "ldm     sp++, r8-r12, lr                                                               \n\t"                                          \
 223             /* Restore SR */                                                                                                                                                                                                                                                                                                                     \
 224                                                                                                                                                                                                           "ld.w    r0, sp[-8*4]                                                                   \n\t" /* R0 is modified, is restored later. */ \
 225                                                                                                                                                                                                           "mtsr    "ASTRINGZ ( AVR32_SR ) ", r0                                                       \n\t"                                      \
 226             /* Restore r0 */                                                                                                                                                                                                                                                                                                                     \
 227                                                                                                                                                                                                                                           "ld.w    r0, sp[-9*4]                                                                   \n\t"          \
 228             /* Restore PC */                                                                                                                                                                                                                                                                                                                     \
 229                                                                                                                                                                                                                                           "ld.w    pc, sp[-7*4]" /* Get PC from stack - PC is the 7th register saved */                          \
 230             );                                                                                                                                                                                                                                                                                                                                   \
 231                                                                                                                                                                                                                                                                                                                                                  \
 232         /* Force import of global symbols from assembly */                                                                                                                                                                                                                                                                                       \
 233         ulCriticalNesting;                                                                                                                                                                                                                                                                                                                       \
 234         pxCurrentTCB;                                                                                                                                                                                                                                                                                                                            \
 235     }
 236
 237
 238 /*
 239  * portSAVE_CONTEXT_INT() and portRESTORE_CONTEXT_INT(): for INT0..3 exceptions.
 240  * portSAVE_CONTEXT_SCALL() and portRESTORE_CONTEXT_SCALL(): for the scall exception.
 241  *
 242  * Had to make different versions because registers saved on the system stack
 243  * are not the same between INT0..3 exceptions and the scall exception.
 244  */
 245
 246 /* Task context stack layout: */
 247 /* R8  (*) */
 248 /* R9  (*) */
 249 /* R10 (*) */
 250 /* R11 (*) */
 251 /* R12 (*) */
 252 /* R14/LR (*) */
 253 /* R15/PC (*) */
 254 /* SR (*) */
 255 /* R0 */
 256 /* R1 */
 257 /* R2 */
 258 /* R3 */
 259 /* R4 */
 260 /* R5 */
 261 /* R6 */
 262 /* R7 */
 263 /* ulCriticalNesting */
 264 /* (*) automatically done for INT0..INT3, but not for SCALL */
 265
 266 /*
 267  * The ISR used for the scheduler tick depends on whether the cooperative or
 268  * the preemptive scheduler is being used.
 269  */
 270 #if configUSE_PREEMPTION == 0
 271
 272 /*
 273  * portSAVE_CONTEXT_OS_INT() for OS Tick exception.
 274  */
 275     #define portSAVE_CONTEXT_OS_INT()                                                     \
 276     {                                                                                     \
 277         /* Save R0..R7 */                                                                 \
 278         __asm__ __volatile__ ( "stm     --sp, r0-r7" );                                   \
 279                                                                                           \
 280         /* With the cooperative scheduler, as there is no context switch by interrupt, */ \
 281         /* there is also no context save. */                                              \
 282     }
 283
 284 /*
 285  * portRESTORE_CONTEXT_OS_INT() for Tick exception.
 286  */
 287     #define portRESTORE_CONTEXT_OS_INT()                                                                  \
 288     {                                                                                                     \
 289         __asm__ __volatile__ (                                                                            \
 290             /* Restore R0..R7 */                                                                          \
 291             "ldm     sp++, r0-r7                                                                    \n\t" \
 292                                                                                                           \
 293             /* With the cooperative scheduler, as there is no context switch by interrupt, */             \
 294             /* there is also no context restore. */                                                       \
 295             "rete"                                                                                        \
 296             );                                                                                            \
 297     }
 298
 299 #else /* if configUSE_PREEMPTION == 0 */
 300
 301 /*
 302  * portSAVE_CONTEXT_OS_INT() for OS Tick exception.
 303  */
 304     #define portSAVE_CONTEXT_OS_INT()                                                                                                                                                                                                                                                                                                                                       \
 305     {                                                                                                                                                                                                                                                                                                                                                                       \
 306         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                                                                                                                                                         \
 307         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                                                                                                                                                                       \
 308                                                                                                                                                                                                                                                                                                                                                                             \
 309         /* When we come here */                                                                                                                                                                                                                                                                                                                                             \
 310         /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */                                                                                                                                                                                                                                                                                      \
 311                                                                                                                                                                                                                                                                                                                                                                             \
 312         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                              \
 313             /* Save R0..R7 */                                                                                                                                                                                                                                                                                                                                               \
 314             "stm     --sp, r0-r7                                                                            \n\t"                                                                                                                                                                                                                                                           \
 315                                                                                                                                                                                                                                                                                                                                                                             \
 316             /* Save ulCriticalNesting variable  - R0 is overwritten */                                                                                                                                                                                                                                                                                                      \
 317             "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                                                                                                                                                                       \
 318                                                               "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                                                                                                                     \
 319                                                                                                                 "ld.w    r0, r8[0]                                                                              \n\t"                                                                                                                                                       \
 320                                                                                                                 "st.w    --sp, r0                                                                               \n\t"                                                                                                                                                       \
 321                                                                                                                                                                                                                                                                                                                                                                             \
 322             /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */                                                                                                                                                                                                                                                                    \
 323             /* interrupt handler (which was of a higher priority level but decided to lower its priority */                                                                                                                                                                                                                                                                 \
 324             /* level and allow other lower interrupt level to occur). */                                                                                                                                                                                                                                                                                                    \
 325             /* In this case we don't want to do a task switch because we don't know what the stack */                                                                                                                                                                                                                                                                       \
 326             /* currently looks like (we don't know what the interrupted interrupt handler was doing). */                                                                                                                                                                                                                                                                    \
 327             /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */                                                                                                                                                                                                                                                                       \
 328             /* will just be restoring the interrupt handler, no way!!! */                                                                                                                                                                                                                                                                                                   \
 329             /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */                                                                                                                                                                                                                                                                                  \
 330                                                                                                                 "ld.w    r0, sp[9*4]                                                                            \n\t" /* Read SR in stack */                                                                                                                                \
 331                                                                                                                 "bfextu  r0, r0, 22, 3                                                                          \n\t" /* Extract the mode bits to R0. */                                                                                                                    \
 332                                                                                                                 "cp.w    r0, 1                                                                                  \n\t" /* Compare the mode bits with supervisor mode(b'001) */                                                                                               \
 333                                                                                                                 "brhi    LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) "                                       \n\t"                                                                                                                                                   \
 334                                                                                                                                                                                                                                                                                                                                                                             \
 335             /* Store SP in the first member of the structure pointed to by pxCurrentTCB */                                                                                                                                                                                                                                                                                  \
 336             /* NOTE: we don't enter a critical section here because all interrupt handlers */                                                                                                                                                                                                                                                                               \
 337             /* MUST perform a SAVE_CONTEXT/RESTORE_CONTEXT in the same way as */                                                                                                                                                                                                                                                                                            \
 338             /* portSAVE_CONTEXT_OS_INT/port_RESTORE_CONTEXT_OS_INT if they call OS functions. */                                                                                                                                                                                                                                                                            \
 339             /* => all interrupt handlers must use portENTER_SWITCHING_ISR/portEXIT_SWITCHING_ISR. */                                                                                                                                                                                                                                                                        \
 340                                                                                                                                                                             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                       \
 341                                                                                                                                                                                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                          \
 342                                                                                                                                                                                                                                                                       "ld.w    r0, r8[0]                                                                              \n\t" \
 343                                                                                                                                                                                                                                                                       "st.w    r0[0], sp                                                                              \n"   \
 344                                                                                                                                                                                                                                                                                                                                                                             \
 345                                                                                                                                                                                                                                                                       "LABEL_INT_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":"                                               \
 346             );                                                                                                                                                                                                                                                                                                                                                              \
 347     }
 348
 349 /*
 350  * portRESTORE_CONTEXT_OS_INT() for Tick exception.
 351  */
 352     #define portRESTORE_CONTEXT_OS_INT()                                                                                                                                                                                                                                                                                                                               \
 353     {                                                                                                                                                                                                                                                                                                                                                                  \
 354         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                                                                                                                                                    \
 355         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                                                                                                                                                                  \
 356                                                                                                                                                                                                                                                                                                                                                                        \
 357         /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */                                                                                                                                                                                                                                                                   \
 358         /* interrupt handler (which was of a higher priority level but decided to lower its priority */                                                                                                                                                                                                                                                                \
 359         /* level and allow other lower interrupt level to occur). */                                                                                                                                                                                                                                                                                                   \
 360         /* In this case we don't want to do a task switch because we don't know what the stack */                                                                                                                                                                                                                                                                      \
 361         /* currently looks like (we don't know what the interrupted interrupt handler was doing). */                                                                                                                                                                                                                                                                   \
 362         /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */                                                                                                                                                                                                                                                                      \
 363         /* will just be restoring the interrupt handler, no way!!! */                                                                                                                                                                                                                                                                                                  \
 364         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                         \
 365             "ld.w    r0, sp[9*4]                                                                            \n\t" /* Read SR in stack */                                                                                                                                                                                                                               \
 366             "bfextu  r0, r0, 22, 3                                                                          \n\t" /* Extract the mode bits to R0. */                                                                                                                                                                                                                   \
 367             "cp.w    r0, 1                                                                                  \n\t" /* Compare the mode bits with supervisor mode(b'001) */                                                                                                                                                                                              \
 368             "brhi    LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ )                                                                                                                                                                                                                                                                                             \
 369             );                                                                                                                                                                                                                                                                                                                                                         \
 370                                                                                                                                                                                                                                                                                                                                                                        \
 371         /* Else */                                                                                                                                                                                                                                                                                                                                                     \
 372         /* because it is here safe, always call vTaskSwitchContext() since an OS tick occurred. */                                                                                                                                                                                                                                                                     \
 373         /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */                                                                                                                                                                                                                                                         \
 374         portENTER_CRITICAL();                                                                                                                                                                                                                                                                                                                                          \
 375         vTaskSwitchContext();                                                                                                                                                                                                                                                                                                                                          \
 376         portEXIT_CRITICAL();                                                                                                                                                                                                                                                                                                                                           \
 377                                                                                                                                                                                                                                                                                                                                                                        \
 378         /* Restore all registers */                                                                                                                                                                                                                                                                                                                                    \
 379                                                                                                                                                                                                                                                                                                                                                                        \
 380         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                         \
 381             /* Set SP to point to new stack */                                                                                                                                                                                                                                                                                                                         \
 382             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                                                                                                                                                                  \
 383                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                                                                                                                     \
 384                                                                                                       "ld.w    r0, r8[0]                                                                              \n\t"                                                                                                                                                            \
 385                                                                                                       "ld.w    sp, r0[0]                                                                              \n"                                                                                                                                                              \
 386                                                                                                                                                                                                                                                                                                                                                                        \
 387                                                                                                       "LABEL_INT_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":                                           \n\t"                                                                                                                                                        \
 388                                                                                                                                                                                                                                                                                                                                                                        \
 389             /* Restore ulCriticalNesting variable */                                                                                                                                                                                                                                                                                                                   \
 390                                                                                                                                                              "ld.w    r0, sp++                                                                               \n\t"                                                                                                     \
 391                                                                                                                                                              "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                 \
 392                                                                                                                                                                                                                "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                               \
 393                                                                                                                                                                                                                                                                  "st.w    r8[0], r0                                                                              \n\t" \
 394                                                                                                                                                                                                                                                                                                                                                                        \
 395             /* Restore R0..R7 */                                                                                                                                                                                                                                                                                                                                       \
 396                                                                                                                                                                                                                                                                  "ldm     sp++, r0-r7                                                                            \n\t" \
 397                                                                                                                                                                                                                                                                                                                                                                        \
 398             /* Now, the stack should be R8..R12, LR, PC and SR */                                                                                                                                                                                                                                                                                                      \
 399                                                                                                                                                                                                                                                                  "rete"                                                                                                \
 400             );                                                                                                                                                                                                                                                                                                                                                         \
 401                                                                                                                                                                                                                                                                                                                                                                        \
 402         /* Force import of global symbols from assembly */                                                                                                                                                                                                                                                                                                             \
 403         ulCriticalNesting;                                                                                                                                                                                                                                                                                                                                             \
 404         pxCurrentTCB;                                                                                                                                                                                                                                                                                                                                                  \
 405     }
 406
 407 #endif /* if configUSE_PREEMPTION == 0 */
 408
 409
 410 /*
 411  * portSAVE_CONTEXT_SCALL() for SupervisorCALL exception.
 412  *
 413  * NOTE: taskYIELD()(== SCALL) MUST NOT be called in a mode > supervisor mode.
 414  *
 415  */
 416 #define portSAVE_CONTEXT_SCALL()                                                                                                                                                                                      \
 417     {                                                                                                                                                                                                                 \
 418         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                   \
 419         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                 \
 420                                                                                                                                                                                                                       \
 421         /* Warning: the stack layout after SCALL doesn't match the one after an interrupt. */                                                                                                                         \
 422         /* If SR[M2:M0] == 001 */                                                                                                                                                                                     \
 423         /*    PC and SR are on the stack.  */                                                                                                                                                                         \
 424         /* Else (other modes) */                                                                                                                                                                                      \
 425         /*    Nothing on the stack. */                                                                                                                                                                                \
 426                                                                                                                                                                                                                       \
 427         /* WARNING NOTE: the else case cannot happen as it is strictly forbidden to call */                                                                                                                           \
 428         /* vTaskDelay() and vTaskDelayUntil() OS functions (that result in a taskYield()) */                                                                                                                          \
 429         /* in an interrupt|exception handler. */                                                                                                                                                                      \
 430                                                                                                                                                                                                                       \
 431         __asm__ __volatile__ (                                                                                                                                                                                        \
 432             /* in order to save R0-R7 */                                                                                                                                                                              \
 433             "sub     sp, 6*4                                                                                \n\t"                                                                                                     \
 434             /* Save R0..R7 */                                                                                                                                                                                         \
 435             "stm     --sp, r0-r7                                                                            \n\t"                                                                                                     \
 436                                                                                                                                                                                                                       \
 437             /* in order to save R8-R12 and LR */                                                                                                                                                                      \
 438             /* do not use SP if interrupts occurs, SP must be left at bottom of stack */                                                                                                                              \
 439             "sub     r7, sp,-16*4                                                                           \n\t"                                                                                                     \
 440             /* Copy PC and SR in other places in the stack. */                                                                                                                                                        \
 441             "ld.w    r0, r7[-2*4]                                                                           \n\t" /* Read SR */                                                                                       \
 442             "st.w    r7[-8*4], r0                                                                           \n\t" /* Copy SR */                                                                                       \
 443             "ld.w    r0, r7[-1*4]                                                                           \n\t" /* Read PC */                                                                                       \
 444             "st.w    r7[-7*4], r0                                                                           \n\t" /* Copy PC */                                                                                       \
 445                                                                                                                                                                                                                       \
 446             /* Save R8..R12 and LR on the stack. */                                                                                                                                                                   \
 447             "stm     --r7, r8-r12, lr                                                                       \n\t"                                                                                                     \
 448                                                                                                                                                                                                                       \
 449             /* Arriving here we have the following stack organizations: */                                                                                                                                            \
 450             /* R8..R12, LR, PC, SR, R0..R7. */                                                                                                                                                                        \
 451                                                                                                                                                                                                                       \
 452             /* Now we can finalize the save. */                                                                                                                                                                       \
 453                                                                                                                                                                                                                       \
 454             /* Save ulCriticalNesting variable  - R0 is overwritten */                                                                                                                                                \
 455             "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                 \
 456                                                               "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                               \
 457                                                                                                                 "ld.w    r0, r8[0]                                                                              \n\t" \
 458                                                                                                                 "st.w    --sp, r0"                                                                                    \
 459             );                                                                                                                                                                                                        \
 460                                                                                                                                                                                                                       \
 461         /* Disable the its which may cause a context switch (i.e. cause a change of */                                                                                                                                \
 462         /* pxCurrentTCB). */                                                                                                                                                                                          \
 463         /* Basically, all accesses to the pxCurrentTCB structure should be put in a */                                                                                                                                \
 464         /* critical section because it is a global structure. */                                                                                                                                                      \
 465         portENTER_CRITICAL();                                                                                                                                                                                         \
 466                                                                                                                                                                                                                       \
 467         /* Store SP in the first member of the structure pointed to by pxCurrentTCB */                                                                                                                                \
 468         __asm__ __volatile__ (                                                                                                                                                                                        \
 469             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                 \
 470                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                    \
 471                                                                                                       "ld.w    r0, r8[0]                                                                              \n\t"           \
 472                                                                                                       "st.w    r0[0], sp"                                                                                             \
 473             );                                                                                                                                                                                                        \
 474     }
 475
 476 /*
 477  * portRESTORE_CONTEXT() for SupervisorCALL exception.
 478  */
 479 #define portRESTORE_CONTEXT_SCALL()                                                                                                                                                                                                 \
 480     {                                                                                                                                                                                                                               \
 481         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                 \
 482         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                               \
 483                                                                                                                                                                                                                                     \
 484         /* Restore all registers */                                                                                                                                                                                                 \
 485                                                                                                                                                                                                                                     \
 486         /* Set SP to point to new stack */                                                                                                                                                                                          \
 487         __asm__ __volatile__ (                                                                                                                                                                                                      \
 488             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                               \
 489                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                  \
 490                                                                                                       "ld.w    r0, r8[0]                                                                              \n\t"                         \
 491                                                                                                       "ld.w    sp, r0[0]"                                                                                                           \
 492             );                                                                                                                                                                                                                      \
 493                                                                                                                                                                                                                                     \
 494         /* Leave pxCurrentTCB variable access critical section */                                                                                                                                                                   \
 495         portEXIT_CRITICAL();                                                                                                                                                                                                        \
 496                                                                                                                                                                                                                                     \
 497         __asm__ __volatile__ (                                                                                                                                                                                                      \
 498             /* Restore ulCriticalNesting variable */                                                                                                                                                                                \
 499             "ld.w    r0, sp++                                                                               \n\t"                                                                                                                   \
 500             "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                               \
 501                                                               "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                             \
 502                                                                                                                 "st.w    r8[0], r0                                                                              \n\t"               \
 503                                                                                                                                                                                                                                     \
 504             /* skip PC and SR */                                                                                                                                                                                                    \
 505             /* do not use SP if interrupts occurs, SP must be left at bottom of stack */                                                                                                                                            \
 506                                                                                                                 "sub     r7, sp, -10*4                                                                          \n\t"               \
 507             /* Restore r8-r12 and LR */                                                                                                                                                                                             \
 508                                                                                                                 "ldm     r7++, r8-r12, lr                                                                       \n\t"               \
 509                                                                                                                                                                                                                                     \
 510             /* RETS will take care of the extra PC and SR restore. */                                                                                                                                                               \
 511             /* So, we have to prepare the stack for this. */                                                                                                                                                                        \
 512                                                                                                                 "ld.w    r0, r7[-8*4]                                                                           \n\t" /* Read SR */ \
 513                                                                                                                 "st.w    r7[-2*4], r0                                                                           \n\t" /* Copy SR */ \
 514                                                                                                                 "ld.w    r0, r7[-7*4]                                                                           \n\t" /* Read PC */ \
 515                                                                                                                 "st.w    r7[-1*4], r0                                                                           \n\t" /* Copy PC */ \
 516                                                                                                                                                                                                                                     \
 517             /* Restore R0..R7 */                                                                                                                                                                                                    \
 518                                                                                                                 "ldm     sp++, r0-r7                                                                            \n\t"               \
 519                                                                                                                                                                                                                                     \
 520                                                                                                                 "sub     sp, -6*4                                                                               \n\t"               \
 521                                                                                                                                                                                                                                     \
 522                                                                                                                 "rets"                                                                                                              \
 523             );                                                                                                                                                                                                                      \
 524                                                                                                                                                                                                                                     \
 525         /* Force import of global symbols from assembly */                                                                                                                                                                          \
 526         ulCriticalNesting;                                                                                                                                                                                                          \
 527         pxCurrentTCB;                                                                                                                                                                                                               \
 528     }
 529
 530
 531 /*
 532  * The ISR used depends on whether the cooperative or
 533  * the preemptive scheduler is being used.
 534  */
 535 #if configUSE_PREEMPTION == 0
 536
 537 /*
 538  * ISR entry and exit macros.  These are only required if a task switch
 539  * is required from the ISR.
 540  */
 541     #define portENTER_SWITCHING_ISR()                                                     \
 542     {                                                                                     \
 543         /* Save R0..R7 */                                                                 \
 544         __asm__ __volatile__ ( "stm     --sp, r0-r7" );                                   \
 545                                                                                           \
 546         /* With the cooperative scheduler, as there is no context switch by interrupt, */ \
 547         /* there is also no context save. */                                              \
 548     }
 549
 550 /*
 551  * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1
 552  */
 553     #define portEXIT_SWITCHING_ISR()                                                                              \
 554     {                                                                                                             \
 555         __asm__ __volatile__ (                                                                                    \
 556             /* Restore R0..R7 */                                                                                  \
 557             "ldm     sp++, r0-r7                                                                            \n\t" \
 558                                                                                                                   \
 559             /* With the cooperative scheduler, as there is no context switch by interrupt, */                     \
 560             /* there is also no context restore. */                                                               \
 561             "rete"                                                                                                \
 562             );                                                                                                    \
 563     }
 564
 565 #else /* if configUSE_PREEMPTION == 0 */
 566
 567 /*
 568  * ISR entry and exit macros.  These are only required if a task switch
 569  * is required from the ISR.
 570  */
 571     #define portENTER_SWITCHING_ISR()                                                                                                                                                                                                                                                                                                                                       \
 572     {                                                                                                                                                                                                                                                                                                                                                                       \
 573         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                                                                                                                                                         \
 574         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                                                                                                                                                                       \
 575                                                                                                                                                                                                                                                                                                                                                                             \
 576         /* When we come here */                                                                                                                                                                                                                                                                                                                                             \
 577         /* Registers R8..R12, LR, PC and SR had already been pushed to system stack */                                                                                                                                                                                                                                                                                      \
 578                                                                                                                                                                                                                                                                                                                                                                             \
 579         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                              \
 580             /* Save R0..R7 */                                                                                                                                                                                                                                                                                                                                               \
 581             "stm     --sp, r0-r7                                                                            \n\t"                                                                                                                                                                                                                                                           \
 582                                                                                                                                                                                                                                                                                                                                                                             \
 583             /* Save ulCriticalNesting variable  - R0 is overwritten */                                                                                                                                                                                                                                                                                                      \
 584             "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                                                                                                                                                                       \
 585                                                               "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                                                                                                                     \
 586                                                                                                                 "ld.w    r0, r8[0]                                                                              \n\t"                                                                                                                                                       \
 587                                                                                                                 "st.w    --sp, r0                                                                               \n\t"                                                                                                                                                       \
 588                                                                                                                                                                                                                                                                                                                                                                             \
 589             /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */                                                                                                                                                                                                                                                                    \
 590             /* interrupt handler (which was of a higher priority level but decided to lower its priority */                                                                                                                                                                                                                                                                 \
 591             /* level and allow other lower interrupt level to occur). */                                                                                                                                                                                                                                                                                                    \
 592             /* In this case we don't want to do a task switch because we don't know what the stack */                                                                                                                                                                                                                                                                       \
 593             /* currently looks like (we don't know what the interrupted interrupt handler was doing). */                                                                                                                                                                                                                                                                    \
 594             /* Saving SP in pxCurrentTCB and then later restoring it (thinking restoring the task) */                                                                                                                                                                                                                                                                       \
 595             /* will just be restoring the interrupt handler, no way!!! */                                                                                                                                                                                                                                                                                                   \
 596             /* So, since we won't do a vTaskSwitchContext(), it's of no use to save SP. */                                                                                                                                                                                                                                                                                  \
 597                                                                                                                 "ld.w    r0, sp[9*4]                                                                            \n\t" /* Read SR in stack */                                                                                                                                \
 598                                                                                                                 "bfextu  r0, r0, 22, 3                                                                          \n\t" /* Extract the mode bits to R0. */                                                                                                                    \
 599                                                                                                                 "cp.w    r0, 1                                                                                  \n\t" /* Compare the mode bits with supervisor mode(b'001) */                                                                                               \
 600                                                                                                                 "brhi    LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) "                                       \n\t"                                                                                                                                                   \
 601                                                                                                                                                                                                                                                                                                                                                                             \
 602             /* Store SP in the first member of the structure pointed to by pxCurrentTCB */                                                                                                                                                                                                                                                                                  \
 603                                                                                                                                                                             "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                       \
 604                                                                                                                                                                                                                          "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                          \
 605                                                                                                                                                                                                                                                                       "ld.w    r0, r8[0]                                                                              \n\t" \
 606                                                                                                                                                                                                                                                                       "st.w    r0[0], sp                                                                              \n"   \
 607                                                                                                                                                                                                                                                                                                                                                                             \
 608                                                                                                                                                                                                                                                                       "LABEL_ISR_SKIP_SAVE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":"                                               \
 609             );                                                                                                                                                                                                                                                                                                                                                              \
 610     }
 611
 612
 613 /*
 614  * Input parameter: in R12, boolean. Perform a vTaskSwitchContext() if 1
 615  */
 616     #define portEXIT_SWITCHING_ISR()                                                                                                                                                                                                                                                                                                                                                                                     \
 617     {                                                                                                                                                                                                                                                                                                                                                                                                                    \
 618         extern volatile uint32_t ulCriticalNesting;                                                                                                                                                                                                                                                                                                                                                                      \
 619         extern volatile void * volatile pxCurrentTCB;                                                                                                                                                                                                                                                                                                                                                                    \
 620                                                                                                                                                                                                                                                                                                                                                                                                                          \
 621         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                                                                           \
 622             /* Check if INT0 or higher were being handled (case where the OS tick interrupted another */                                                                                                                                                                                                                                                                                                                 \
 623             /* interrupt handler (which was of a higher priority level but decided to lower its priority */                                                                                                                                                                                                                                                                                                              \
 624             /* level and allow other lower interrupt level to occur). */                                                                                                                                                                                                                                                                                                                                                 \
 625             /* In this case it's of no use to switch context and restore a new SP because we purposely */                                                                                                                                                                                                                                                                                                                \
 626             /* did not previously save SP in its TCB. */                                                                                                                                                                                                                                                                                                                                                                 \
 627             "ld.w    r0, sp[9*4]                                                                            \n\t" /* Read SR in stack */                                                                                                                                                                                                                                                                                 \
 628             "bfextu  r0, r0, 22, 3                                                                          \n\t" /* Extract the mode bits to R0. */                                                                                                                                                                                                                                                                     \
 629             "cp.w    r0, 1                                                                                  \n\t" /* Compare the mode bits with supervisor mode(b'001) */                                                                                                                                                                                                                                                \
 630             "brhi    LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) "                                    \n\t"                                                                                                                                                                                                                                                                                                    \
 631                                                                                                                                                                                                                                                                                                                                                                                                                          \
 632             /* If a switch is required then we just need to call */                                                                                                                                                                                                                                                                                                                                                      \
 633             /* vTaskSwitchContext() as the context has already been */                                                                                                                                                                                                                                                                                                                                                   \
 634             /* saved. */                                                                                                                                                                                                                                                                                                                                                                                                 \
 635                                                                            "cp.w    r12, 1                                                                                 \n\t" /* Check if Switch context is required. */                                                                                                                                                                                              \
 636                                                                            "brne    LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":C"                                                                                                                                                                                                                                                                                \
 637             );                                                                                                                                                                                                                                                                                                                                                                                                           \
 638                                                                                                                                                                                                                                                                                                                                                                                                                          \
 639         /* A critical section has to be used here because vTaskSwitchContext handles FreeRTOS linked lists. */                                                                                                                                                                                                                                                                                                           \
 640         portENTER_CRITICAL();                                                                                                                                                                                                                                                                                                                                                                                            \
 641         vTaskSwitchContext();                                                                                                                                                                                                                                                                                                                                                                                            \
 642         portEXIT_CRITICAL();                                                                                                                                                                                                                                                                                                                                                                                             \
 643                                                                                                                                                                                                                                                                                                                                                                                                                          \
 644         __asm__ __volatile__ (                                                                                                                                                                                                                                                                                                                                                                                           \
 645             "LABEL_ISR_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":                                                \n\t"                                                                                                                                                                                                                                                                                                    \
 646             /* Restore the context of which ever task is now the highest */                                                                                                                                                                                                                                                                                                                                              \
 647             /* priority that is ready to run. */                                                                                                                                                                                                                                                                                                                                                                         \
 648                                                                                                                                                                                                                                                                                                                                                                                                                          \
 649             /* Restore all registers */                                                                                                                                                                                                                                                                                                                                                                                  \
 650                                                                                                                                                                                                                                                                                                                                                                                                                          \
 651             /* Set SP to point to new stack */                                                                                                                                                                                                                                                                                                                                                                           \
 652                                                               "mov     r8, LWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                                                                                                                                                                  \
 653                                                                                                            "orh     r8, HWRD("ASTRINGZ ( pxCurrentTCB ) ")                                                     \n\t"                                                                                                                                                                                                     \
 654                                                                                                                                                         "ld.w    r0, r8[0]                                                                              \n\t"                                                                                                                                                            \
 655                                                                                                                                                         "ld.w    sp, r0[0]                                                                              \n"                                                                                                                                                              \
 656                                                                                                                                                                                                                                                                                                                                                                                                                          \
 657                                                                                                                                                         "LABEL_ISR_SKIP_RESTORE_CONTEXT_"ASTRINGZ ( __LINE__ ) ":                                           \n\t"                                                                                                                                                        \
 658                                                                                                                                                                                                                                                                                                                                                                                                                          \
 659             /* Restore ulCriticalNesting variable */                                                                                                                                                                                                                                                                                                                                                                     \
 660                                                                                                                                                                                                                "ld.w    r0, sp++                                                                               \n\t"                                                                                                     \
 661                                                                                                                                                                                                                "mov     r8, LWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                                                                                 \
 662                                                                                                                                                                                                                                                                  "orh     r8, HWRD("ASTRINGZ ( ulCriticalNesting ) ")                                                \n\t"                                               \
 663                                                                                                                                                                                                                                                                                                                    "st.w    r8[0], r0                                                                              \n\t" \
 664                                                                                                                                                                                                                                                                                                                                                                                                                          \
 665             /* Restore R0..R7 */                                                                                                                                                                                                                                                                                                                                                                                         \
 666                                                                                                                                                                                                                                                                                                                    "ldm     sp++, r0-r7                                                                            \n\t" \
 667                                                                                                                                                                                                                                                                                                                                                                                                                          \
 668             /* Now, the stack should be R8..R12, LR, PC and SR  */                                                                                                                                                                                                                                                                                                                                                       \
 669                                                                                                                                                                                                                                                                                                                    "rete"                                                                                                \
 670             );                                                                                                                                                                                                                                                                                                                                                                                                           \
 671                                                                                                                                                                                                                                                                                                                                                                                                                          \
 672         /* Force import of global symbols from assembly */                                                                                                                                                                                                                                                                                                                                                               \
 673         ulCriticalNesting;                                                                                                                                                                                                                                                                                                                                                                                               \
 674         pxCurrentTCB;                                                                                                                                                                                                                                                                                                                                                                                                    \
 675     }
 676
 677 #endif /* if configUSE_PREEMPTION == 0 */
 678
 679
 680 #define portYIELD()                                           { __asm__ __volatile__ ( "scall" ); }
 681
 682 /* Task function macros as described on the FreeRTOS.org WEB site. */
 683 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters )    void vFunction( void * pvParameters )
 684 #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 685
 686 /* *INDENT-OFF* */
 687 #ifdef __cplusplus
 688     }
 689 #endif
 690 /* *INDENT-ON* */
 691
 692 #endif /* PORTMACRO_H */