This file is part of SimpleRTOS2
/*============================================================================*/
/*
SimpleRTOS - Very simple RTOS for Microcontrollers - PIC32 port
v2.00 (2014-01-21)
isaacbavaresco@yahoo.com.br
*/
/*============================================================================*/
/*
Copyright (c) 2007-2014, Isaac Marino Bavaresco
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Neither the name of the author nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ''AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*============================================================================*/
#if !defined __PORTSAM3INTERNALS_H__
#define __PORTSAM3INTERNALS_H__
/*============================================================================*/
#include <asf.h>
#include "SimpleRTOS.h"
/*============================================================================*/
typedef unsigned long intsave_t;
/*============================================================================*/
#define KERNEL_INTERRUPT_PRIORITY (15)
#define MAX_SYSCALL_INTERRUPT_PRIORITY (8ul)
//extern void RestoreInterrupts( intsave_t Status );
//extern intsave_t SaveAndDisableInterrupts( void );
/*============================================================================*/
#define USE_PSP
/*============================================================================*/
#if defined USE_PSP
#define SAVE_CONTEXT() \
__asm volatile( \
"mrs r12,basepri \n" \
\
"mov r0,%0 \n" \
"msr basepri,r0 \n" \
\
"mrs r1,psp \n" \
"isb \n" \
"stmdb r1!,{r4-r12} \n" /* Save the remaining registers. */ \
\
"ldr r0,=CurrentTask \n" /* r0 = &CurrentTask */ \
"ldr r0,[r0] \n" /* r0 = CurrentTask */ \
"str r1, [r0] \n" /* CurrentTask->sp = sp */ \
\
"stmdb r13!,{r14} \n" \
\
:: "i"(( MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - __NVIC_PRIO_BITS )) & 0xff ) : "r0" \
);
#define RESTORE_CONTEXT() \
__asm volatile( \
"ldmia r13!,{r14} \n" \
\
"ldr r0,=CurrentTask \n" /* r0 = &CurrentTask */ \
"ldr r0,[r0] \n" /* r0 = CurrentTask */ \
"ldr r1,[r0] \n" /* sp = CurrentTask->sp*/ \
\
"ldmia r1!,{r4-r12} \n" /* Load the remaining registers. */ \
"msr psp,r1 \n" \
"isb \n" \
\
"msr basepri,r12 \n" \
\
"bx r14 \n" \
);
#else /* defined USE_PSP */
#define SAVE_CONTEXT() \
__asm volatile( \
"mrs r12,basepri \n" \
\
"mov r0,%0 \n" \
"msr basepri,r0 \n" \
\
"stmdb r13!, {r4-r12} \n" /* Save the remaining registers. */ \
\
"ldr r0,=CurrentTask \n" /* r0 = &CurrentTask */ \
"ldr r0, [r0] \n" /* r1 = CurrentTask */ \
"str r13, [r0] \n" /* CurrentTask->sp = sp */ \
\
"stmdb r13!,{r14} \n" \
\
:: "i"(( MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - __NVIC_PRIO_BITS )) & 0xff ) : "r0" \
);
#define RESTORE_CONTEXT() \
__asm volatile( \
"ldmia r13!,{r14} \n" \
\
"ldr r0,=CurrentTask \n" /* r0 = &CurrentTask */ \
"ldr r0, [r0] \n" /* r0 = CurrentTask */ \
"ldr r13,[r0] \n" /* sp = CurrentTask->sp*/ \
\
"ldmia r13!, {r4-r12} \n" /* Load the remaining registers. */ \
\
"msr basepri,r12 \n" \
\
"bx r14 \n" \
\
::: "r0" \
);
#endif /* defined USE_PSP */
/*============================================================================*/
static inline intsave_t __attribute((always_inline)) SaveAndDisableInterrupts( void )
{
register intsave_t Status;
asm volatile(
"mrs r0,basepri \n"
"mov %0,r0 \n"
"mov r0,%1 \n"
"msr basepri,r0 \n"
: "=r"( Status ) : "i"(( MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - __NVIC_PRIO_BITS )) & 0xff ) : "r0"
);
return Status;
}
/*============================================================================*/
static inline void __attribute((always_inline)) RestoreInterrupts( intsave_t Status )
{
asm volatile(
"mov r0,%0 \n"
"msr basepri,r0 \n"
:: "r"( Status ) : "r0"
);
}
/*============================================================================*/
static inline void __attribute((always_inline)) ForceYield( void )
{
asm volatile( "svc 0" );
}
/*============================================================================*/
#endif /* !defined __PORTSAM3INTERNALS_H__ */
/*============================================================================*/
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