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jeremybenn |
/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* If you are: *
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* *
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* + New to FreeRTOS, *
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* + Wanting to learn FreeRTOS or multitasking in general quickly *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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* *
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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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* http://www.FreeRTOS.org/Documentation *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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* to your inbox within 20 minutes to two hours when purchased between 8am *
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* and 8pm GMT (although please allow up to 24 hours in case of *
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* exceptional circumstances). Thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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***NOTE*** The exception to the GPL is included to allow you to distribute
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a combined work that includes FreeRTOS without being obliged to provide the
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source code for proprietary components outside of the FreeRTOS kernel.
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FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/*
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Changes from V3.0.0
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Changes from V3.0.1
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*/
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#if !defined(_SERIES) || _SERIES != 18
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#error "WizC supports FreeRTOS on the Microchip PIC18-series only"
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#endif
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#if !defined(QUICKCALL) || QUICKCALL != 1
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#error "QuickCall must be enabled (see ProjectOptions/Optimisations)"
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#endif
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#include <stddef.h>
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#include <pic.h>
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#define portCHAR char
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#define portFLOAT float
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#define portDOUBLE portFLOAT
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#define portLONG long
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#define portSHORT short
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#define portSTACK_TYPE unsigned char
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#define portBASE_TYPE char
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#if( configUSE_16_BIT_TICKS == 1 )
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typedef unsigned portSHORT portTickType;
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#define portMAX_DELAY ( portTickType ) ( 0xFFFF )
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#else
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typedef unsigned portLONG portTickType;
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#define portMAX_DELAY ( portTickType ) ( 0xFFFFFFFF )
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#endif
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#define portBYTE_ALIGNMENT 1
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/*-----------------------------------------------------------*/
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/*
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* Constant used for context switch macro when we require the interrupt
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* enable state to be forced when the interrupted task is switched back in.
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*/
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#define portINTERRUPTS_FORCED (0x01)
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/*
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* Constant used for context switch macro when we require the interrupt
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* enable state to be unchanged when the interrupted task is switched back in.
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*/
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#define portINTERRUPTS_UNCHANGED (0x00)
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/* Initial interrupt enable state for newly created tasks. This value is
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* used when a task switches in for the first time.
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*/
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#define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED)
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/*
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* Macros to modify the global interrupt enable bit in INTCON.
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*/
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#define portDISABLE_INTERRUPTS() \
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do \
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{ \
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bGIE=0; \
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} while(bGIE) // MicroChip recommends this check!
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#define portENABLE_INTERRUPTS() \
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do \
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{ \
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bGIE=1; \
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} while(0)
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/*-----------------------------------------------------------*/
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/*
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* Critical section macros.
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*/
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extern unsigned portCHAR ucCriticalNesting;
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#define portNO_CRITICAL_SECTION_NESTING ( ( unsigned portCHAR ) 0 )
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#define portENTER_CRITICAL() \
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do \
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{ \
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portDISABLE_INTERRUPTS(); \
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\
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/* \
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* Now interrupts are disabled ucCriticalNesting \
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* can be accessed directly. Increment \
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* ucCriticalNesting to keep a count of how \
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* many times portENTER_CRITICAL() has been called. \
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*/ \
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ucCriticalNesting++; \
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} while(0)
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#define portEXIT_CRITICAL() \
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do \
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{ \
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if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \
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{ \
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/* \
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* Decrement the nesting count as we are leaving a \
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* critical section. \
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*/ \
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ucCriticalNesting--; \
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} \
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\
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/* \
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* If the nesting level has reached zero then \
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* interrupts should be re-enabled. \
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*/ \
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if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \
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{ \
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portENABLE_INTERRUPTS(); \
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} \
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} while(0)
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/*-----------------------------------------------------------*/
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/*
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* The minimal stacksize is calculated on the first reference of
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* portMINIMAL_STACK_SIZE. Some input to this calculation is
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* compiletime determined, other input is port-defined (see port.c)
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*/
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extern unsigned portSHORT usPortCALCULATE_MINIMAL_STACK_SIZE( void );
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extern unsigned portSHORT usCalcMinStackSize;
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#define portMINIMAL_STACK_SIZE \
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((usCalcMinStackSize == 0) \
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? usPortCALCULATE_MINIMAL_STACK_SIZE() \
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: usCalcMinStackSize )
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/*
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* WizC uses a downgrowing stack
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*/
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#define portSTACK_GROWTH ( -1 )
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/*-----------------------------------------------------------*/
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/*
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* Macro's that pushes all the registers that make up the context of a task onto
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* the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU
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* are only saved/restored on devices with more than 64kB (32k Words) ROM.
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*
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* The stackpointer is helt by WizC in FSR2 and points to the first free byte.
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* WizC uses a "downgrowing" stack. There is no framepointer.
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*
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* We keep track of the interruptstatus using ucCriticalNesting. When this
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* value equals zero, interrupts have to be enabled upon exit from the
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* portRESTORE_CONTEXT macro.
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*
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* If this is called from an ISR then the interrupt enable bits must have been
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* set for the ISR to ever get called. Therefore we want to save
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* ucCriticalNesting with value zero. This means the interrupts will again be
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* re-enabled when the interrupted task is switched back in.
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*
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* If this is called from a manual context switch (i.e. from a call to yield),
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* then we want to keep the current value of ucCritialNesting so it is restored
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* with its current value. This allows a yield from within a critical section.
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*
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* The compiler uses some locations at the bottom of RAM for temporary
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* storage. The compiler may also have been instructed to optimize
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* function-parameters and local variables to global storage. The compiler
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* uses an area called LocOpt for this wizC feature.
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* The total overheadstorage has to be saved in it's entirety as part of
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* a task context. These macro's store/restore from data address 0x0000 to
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* (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1).
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* OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated
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* assembler definitions.
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*/
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#define portSAVE_CONTEXT( ucInterruptForced ) \
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do \
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{ \
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portDISABLE_INTERRUPTS(); \
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\
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_Pragma("asm") \
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; \
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; Push the relevant SFR's onto the task's stack \
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; \
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movff STATUS,POSTDEC2 \
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movff WREG,POSTDEC2 \
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movff BSR,POSTDEC2 \
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movff PRODH,POSTDEC2 \
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movff PRODL,POSTDEC2 \
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movff FSR0H,POSTDEC2 \
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movff FSR0L,POSTDEC2 \
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movff FSR1H,POSTDEC2 \
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movff FSR1L,POSTDEC2 \
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movff TABLAT,POSTDEC2 \
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if __ROMSIZE > 0x8000 \
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movff TBLPTRU,POSTDEC2 \
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endif \
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movff TBLPTRH,POSTDEC2 \
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movff TBLPTRL,POSTDEC2 \
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if __ROMSIZE > 0x8000 \
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movff PCLATU,POSTDEC2 \
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endif \
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movff PCLATH,POSTDEC2 \
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; \
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; Store the compiler-scratch-area as described above. \
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; \
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movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
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clrf FSR0L,ACCESS \
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clrf FSR0H,ACCESS \
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_rtos_S1: \
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movff POSTINC0,POSTDEC2 \
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decfsz WREG,W,ACCESS \
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SMARTJUMP _rtos_S1 \
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; \
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; Save the pic call/return-stack belonging to the \
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; current task by copying it to the task's software- \
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; stack. We save the hardware stack pointer (which \
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; is the number of addresses on the stack) in the \
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; W-register first because we need it later and it \
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; is modified in the save-loop by executing pop's. \
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; After the loop the W-register is stored on the \
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; stack, too. \
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| 271 |
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; \
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movf STKPTR,W,ACCESS \
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bz _rtos_s3 \
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_rtos_S2: \
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| 275 |
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if __ROMSIZE > 0x8000 \
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movff TOSU,POSTDEC2 \
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endif \
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movff TOSH,POSTDEC2 \
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movff TOSL,POSTDEC2 \
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pop \
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| 281 |
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tstfsz STKPTR,ACCESS \
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| 282 |
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SMARTJUMP _rtos_S2 \
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| 283 |
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_rtos_s3: \
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| 284 |
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movwf POSTDEC2,ACCESS \
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| 285 |
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; \
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| 286 |
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; Next the value for ucCriticalNesting used by the \
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| 287 |
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; task is stored on the stack. When \
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| 288 |
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; (ucInterruptForced == portINTERRUPTS_FORCED), we save \
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| 289 |
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; it as 0 (portNO_CRITICAL_SECTION_NESTING). \
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| 290 |
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; \
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| 291 |
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if ucInterruptForced == portINTERRUPTS_FORCED \
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| 292 |
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clrf POSTDEC2,ACCESS \
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| 293 |
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else \
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| 294 |
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movff ucCriticalNesting,POSTDEC2 \
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| 295 |
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endif \
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| 296 |
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; \
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| 297 |
|
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; Save the new top of the software stack in the TCB. \
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| 298 |
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; \
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| 299 |
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movff pxCurrentTCB,FSR0L \
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| 300 |
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movff pxCurrentTCB+1,FSR0H \
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| 301 |
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movff FSR2L,POSTINC0 \
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| 302 |
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movff FSR2H,POSTINC0 \
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| 303 |
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_Pragma("asmend") \
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| 304 |
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} while(0)
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| 305 |
|
|
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| 306 |
|
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/************************************************************/
|
| 307 |
|
|
|
| 308 |
|
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/*
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| 309 |
|
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* This is the reverse of portSAVE_CONTEXT.
|
| 310 |
|
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*/
|
| 311 |
|
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#define portRESTORE_CONTEXT() \
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| 312 |
|
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do \
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| 313 |
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{ \
|
| 314 |
|
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_Pragma("asm") \
|
| 315 |
|
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; \
|
| 316 |
|
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; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \
|
| 317 |
|
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; \
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| 318 |
|
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movff pxCurrentTCB,FSR0L \
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| 319 |
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movff pxCurrentTCB+1,FSR0H \
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| 320 |
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; \
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| 321 |
|
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; De-reference FSR0 to set the address it holds into \
|
| 322 |
|
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; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \
|
| 323 |
|
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; is used by wizC as stackpointer. \
|
| 324 |
|
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; \
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| 325 |
|
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movff POSTINC0,FSR2L \
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| 326 |
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movff POSTINC0,FSR2H \
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| 327 |
|
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; \
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| 328 |
|
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; Next, the value for ucCriticalNesting used by the \
|
| 329 |
|
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; task is retrieved from the stack. \
|
| 330 |
|
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; \
|
| 331 |
|
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movff PREINC2,ucCriticalNesting \
|
| 332 |
|
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; \
|
| 333 |
|
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; Rebuild the pic call/return-stack. The number of \
|
| 334 |
|
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; return addresses is the next item on the task stack. \
|
| 335 |
|
|
; Save this number in PRODL. Then fetch the addresses \
|
| 336 |
|
|
; and store them on the hardwarestack. \
|
| 337 |
|
|
; The datasheets say we can't use movff here... \
|
| 338 |
|
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; \
|
| 339 |
|
|
movff PREINC2,PRODL // Use PRODL as tempregister \
|
| 340 |
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clrf STKPTR,ACCESS \
|
| 341 |
|
|
_rtos_R1: \
|
| 342 |
|
|
push \
|
| 343 |
|
|
movf PREINC2,W,ACCESS \
|
| 344 |
|
|
movwf TOSL,ACCESS \
|
| 345 |
|
|
movf PREINC2,W,ACCESS \
|
| 346 |
|
|
movwf TOSH,ACCESS \
|
| 347 |
|
|
if __ROMSIZE > 0x8000 \
|
| 348 |
|
|
movf PREINC2,W,ACCESS \
|
| 349 |
|
|
movwf TOSU,ACCESS \
|
| 350 |
|
|
else \
|
| 351 |
|
|
clrf TOSU,ACCESS \
|
| 352 |
|
|
endif \
|
| 353 |
|
|
decfsz PRODL,F,ACCESS \
|
| 354 |
|
|
SMARTJUMP _rtos_R1 \
|
| 355 |
|
|
; \
|
| 356 |
|
|
; Restore the compiler's working storage area to page 0 \
|
| 357 |
|
|
; \
|
| 358 |
|
|
movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
|
| 359 |
|
|
movwf FSR0L,ACCESS \
|
| 360 |
|
|
clrf FSR0H,ACCESS \
|
| 361 |
|
|
_rtos_R2: \
|
| 362 |
|
|
decf FSR0L,F,ACCESS \
|
| 363 |
|
|
movff PREINC2,INDF0 \
|
| 364 |
|
|
tstfsz FSR0L,ACCESS \
|
| 365 |
|
|
SMARTJUMP _rtos_R2 \
|
| 366 |
|
|
; \
|
| 367 |
|
|
; Restore the sfr's forming the tasks context. \
|
| 368 |
|
|
; We cannot yet restore bsr, w and status because \
|
| 369 |
|
|
; we need these registers for a final test. \
|
| 370 |
|
|
; \
|
| 371 |
|
|
movff PREINC2,PCLATH \
|
| 372 |
|
|
if __ROMSIZE > 0x8000 \
|
| 373 |
|
|
movff PREINC2,PCLATU \
|
| 374 |
|
|
else \
|
| 375 |
|
|
clrf PCLATU,ACCESS \
|
| 376 |
|
|
endif \
|
| 377 |
|
|
movff PREINC2,TBLPTRL \
|
| 378 |
|
|
movff PREINC2,TBLPTRH \
|
| 379 |
|
|
if __ROMSIZE > 0x8000 \
|
| 380 |
|
|
movff PREINC2,TBLPTRU \
|
| 381 |
|
|
else \
|
| 382 |
|
|
clrf TBLPTRU,ACCESS \
|
| 383 |
|
|
endif \
|
| 384 |
|
|
movff PREINC2,TABLAT \
|
| 385 |
|
|
movff PREINC2,FSR1L \
|
| 386 |
|
|
movff PREINC2,FSR1H \
|
| 387 |
|
|
movff PREINC2,FSR0L \
|
| 388 |
|
|
movff PREINC2,FSR0H \
|
| 389 |
|
|
movff PREINC2,PRODL \
|
| 390 |
|
|
movff PREINC2,PRODH \
|
| 391 |
|
|
; \
|
| 392 |
|
|
; The return from portRESTORE_CONTEXT() depends on \
|
| 393 |
|
|
; the value of ucCriticalNesting. When it is zero, \
|
| 394 |
|
|
; interrupts need to be enabled. This is done via a \
|
| 395 |
|
|
; retfie instruction because we need the \
|
| 396 |
|
|
; interrupt-enabling and the return to the restored \
|
| 397 |
|
|
; task to be uninterruptable. \
|
| 398 |
|
|
; Because bsr, status and W are affected by the test \
|
| 399 |
|
|
; they are restored after the test. \
|
| 400 |
|
|
; \
|
| 401 |
|
|
movlb ucCriticalNesting>>8 \
|
| 402 |
|
|
tstfsz ucCriticalNesting,BANKED \
|
| 403 |
|
|
SMARTJUMP _rtos_R4 \
|
| 404 |
|
|
_rtos_R3: \
|
| 405 |
|
|
movff PREINC2,BSR \
|
| 406 |
|
|
movff PREINC2,WREG \
|
| 407 |
|
|
movff PREINC2,STATUS \
|
| 408 |
|
|
retfie 0 ; Return enabling interrupts \
|
| 409 |
|
|
_rtos_R4: \
|
| 410 |
|
|
movff PREINC2,BSR \
|
| 411 |
|
|
movff PREINC2,WREG \
|
| 412 |
|
|
movff PREINC2,STATUS \
|
| 413 |
|
|
return 0 ; Return without affecting interrupts \
|
| 414 |
|
|
_Pragma("asmend") \
|
| 415 |
|
|
} while(0)
|
| 416 |
|
|
|
| 417 |
|
|
/*-----------------------------------------------------------*/
|
| 418 |
|
|
|
| 419 |
|
|
#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
|
| 420 |
|
|
|
| 421 |
|
|
/*-----------------------------------------------------------*/
|
| 422 |
|
|
|
| 423 |
|
|
extern void vPortYield( void );
|
| 424 |
|
|
#define portYIELD() vPortYield()
|
| 425 |
|
|
|
| 426 |
|
|
#define portNOP() _Pragma("asm") \
|
| 427 |
|
|
nop \
|
| 428 |
|
|
_Pragma("asmend")
|
| 429 |
|
|
|
| 430 |
|
|
/*-----------------------------------------------------------*/
|
| 431 |
|
|
|
| 432 |
|
|
#define portTASK_FUNCTION( xFunction, pvParameters ) \
|
| 433 |
|
|
void pointed xFunction( void *pvParameters ) \
|
| 434 |
|
|
_Pragma(asmfunc xFunction)
|
| 435 |
|
|
|
| 436 |
|
|
#define portTASK_FUNCTION_PROTO portTASK_FUNCTION
|
| 437 |
|
|
/*-----------------------------------------------------------*/
|
| 438 |
|
|
|
| 439 |
|
|
|
| 440 |
|
|
#define volatile
|
| 441 |
|
|
#define register
|
| 442 |
|
|
|
| 443 |
|
|
#endif /* PORTMACRO_H */
|
| 444 |
|
|
|
