/*
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/*
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
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FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
|
|
|
***************************************************************************
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***************************************************************************
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* *
|
* *
|
* If you are: *
|
* If you are: *
|
* *
|
* *
|
* + New to FreeRTOS, *
|
* + New to FreeRTOS, *
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
* + Wanting to learn FreeRTOS or multitasking in general quickly *
|
* + Looking for basic training, *
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* + Looking for basic training, *
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* + Wanting to improve your FreeRTOS skills and productivity *
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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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* then take a look at the FreeRTOS books - available as PDF or paperback *
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* *
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* *
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* "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
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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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* http://www.FreeRTOS.org/Documentation *
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* *
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* *
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* A pdf reference manual is also available. Both are usually delivered *
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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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* 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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* 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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* exceptional circumstances). Thank you for your support! *
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* *
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* *
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***************************************************************************
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***************************************************************************
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|
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This file is part of the FreeRTOS distribution.
|
This file is part of the FreeRTOS distribution.
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|
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FreeRTOS is free software; you can redistribute it and/or modify it under
|
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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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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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
|
***NOTE*** The exception to the GPL is included to allow you to distribute
|
a combined work that includes FreeRTOS without being obliged to provide the
|
a combined work that includes FreeRTOS without being obliged to provide the
|
source code for proprietary components outside of the FreeRTOS kernel.
|
source code for proprietary components outside of the FreeRTOS kernel.
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT
|
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
|
more details. You should have received a copy of the GNU General Public
|
more details. You should have received a copy of the GNU General Public
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
License and the FreeRTOS license exception along with FreeRTOS; if not it
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
can be viewed here: http://www.freertos.org/a00114.html and also obtained
|
by writing to Richard Barry, contact details for whom are available on the
|
by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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FreeRTOS WEB site.
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|
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1 tab == 4 spaces!
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1 tab == 4 spaces!
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|
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http://www.FreeRTOS.org - Documentation, latest information, license and
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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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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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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critical systems.
|
|
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http://www.OpenRTOS.com - Commercial support, development, porting,
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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licensing and training services.
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*/
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*/
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#ifndef PORTMACRO_H
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#ifndef PORTMACRO_H
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#define PORTMACRO_H
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#define PORTMACRO_H
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#ifdef __cplusplus
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#ifdef __cplusplus
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extern "C" {
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extern "C" {
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#endif
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#endif
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|
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//-----------------------------------------------------------
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//-----------------------------------------------------------
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// Port specific definitions
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// Port specific definitions
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//-----------------------------------------------------------
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//-----------------------------------------------------------
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// Type definitions.
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// Type definitions.
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#define portCHAR char
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#define portCHAR char
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#define portFLOAT float
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#define portFLOAT float
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#define portDOUBLE double
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#define portDOUBLE double
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#define portLONG long
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#define portLONG long
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#define portSHORT short
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#define portSHORT short
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#define portSTACK_TYPE unsigned portLONG
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#define portSTACK_TYPE unsigned portLONG
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#define portBASE_TYPE long
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#define portBASE_TYPE long
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#define portTickType unsigned portLONG
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#define portTickType unsigned portLONG
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#define portMAX_DELAY (portTickType)0xffffffff
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#define portMAX_DELAY (portTickType)0xffffffff
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|
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#if( configUSE_16_BIT_TICKS == 1 )
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#if( configUSE_16_BIT_TICKS == 1 )
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#effor "configUSE_16_BIT_TICKS must be 0"
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#effor "configUSE_16_BIT_TICKS must be 0"
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#endif
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#endif
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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#define portSTACK_GROWTH -1
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#define portSTACK_GROWTH -1
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#define portTICK_RATE_MS ( (portTickType) 1000 / configTICK_RATE_HZ )
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#define portTICK_RATE_MS ( (portTickType) 1000 / configTICK_RATE_HZ )
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#define portBYTE_ALIGNMENT 4
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#define portBYTE_ALIGNMENT 4
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#define portCRITICAL_NESTING_IN_TCB 1
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#define portCRITICAL_NESTING_IN_TCB 1
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#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 4 )
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#define portINSTRUCTION_SIZE ( ( portSTACK_TYPE ) 4 )
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#define portNO_CRITICAL_SECTION_NESTING ( ( portSTACK_TYPE ) 0 )
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#define portNO_CRITICAL_SECTION_NESTING ( ( portSTACK_TYPE ) 0 )
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|
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#define portYIELD_FROM_ISR() vTaskSwitchContext()
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#define portYIELD_FROM_ISR() vTaskSwitchContext()
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#define portYIELD() { \
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#define portYIELD() { \
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__asm__ __volatile__ ( "l.addi r1, r1, -4" ); \
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__asm__ __volatile__ ( "l.sw -4(r1), r11" ); \
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__asm__ __volatile__ ( "l.sw 0x0(r1), r11" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCC" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCC" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCC" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCC" ); \
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__asm__ __volatile__ ( "l.nop " ); \
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__asm__ __volatile__ ( "l.nop " ); \
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}
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}
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#define portNOP() __asm__ __volatile__ ( "l.nop" )
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#define portNOP() __asm__ __volatile__ ( "l.nop" )
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|
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/*
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/*
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* naked attribute is ignored or32-elf-gcc 4.5.1-or32-1.0rc1
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* naked attribute is ignored or32-elf-gcc 4.5.1-or32-1.0rc1
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* use assemble routines in portasm.S
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* use assemble routines in portasm.S
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*/
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*/
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#if 0
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#if 0
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extern void vPortDisableInterrupts( void ) __attribute__ ((__naked__));
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extern void vPortDisableInterrupts( void ) __attribute__ ((__naked__));
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extern void vPortEnableInterrupts( void ) __attribute__ ((__naked__));
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extern void vPortEnableInterrupts( void ) __attribute__ ((__naked__));
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#else
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#else
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void vPortDisableInterrupts( void );
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void vPortDisableInterrupts( void );
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void vPortEnableInterrupts( void );
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void vPortEnableInterrupts( void );
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#endif
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#endif
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|
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#define portDISABLE_INTERRUPTS() vPortDisableInterrupts()
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#define portDISABLE_INTERRUPTS() vPortDisableInterrupts()
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#define portENABLE_INTERRUPTS() vPortEnableInterrupts()
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#define portENABLE_INTERRUPTS() vPortEnableInterrupts()
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|
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/*-----------------------------------------------------------*/
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/*-----------------------------------------------------------*/
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|
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// Critical section handling.
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// Critical section handling.
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// switch supervisormode, disable tick interrupt and all external interrupt, switch back usermode
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// switch supervisormode, disable tick interrupt and all external interrupt, switch back usermode
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#define portENTER_CRITICAL() { \
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#define portENTER_CRITICAL() { \
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__asm__ __volatile__ ( "l.addi r1, r1, -4" ); \
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__asm__ __volatile__ ( "l.sw -4(r1), r11" ); \
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__asm__ __volatile__ ( "l.sw 0x0(r1), r11" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCE" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCE" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCE" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCE" ); \
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__asm__ __volatile__ ( "l.nop " ); \
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__asm__ __volatile__ ( "l.nop " ); \
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}
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}
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// switch supervisormode, enable tick interrupt and all external interrupt, switch back usermode
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// switch supervisormode, enable tick interrupt and all external interrupt, switch back usermode
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#define portEXIT_CRITICAL() { \
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#define portEXIT_CRITICAL() { \
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__asm__ __volatile__ ( "l.addi r1, r1, -4" ); \
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__asm__ __volatile__ ( "l.sw -4(r1), r11" ); \
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__asm__ __volatile__ ( "l.sw 0x0(r1), r11" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCF" ); \
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__asm__ __volatile__ ( "l.addi r11, r0, 0x0FCF" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCF" ); \
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__asm__ __volatile__ ( "l.sys 0x0FCF" ); \
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__asm__ __volatile__ ( "l.nop " ); \
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__asm__ __volatile__ ( "l.nop " ); \
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}
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}
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|
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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/* Task function macros as described on the FreeRTOS.org WEB site. */
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#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
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#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
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#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
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|
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#ifdef __cplusplus
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#ifdef __cplusplus
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}
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}
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#endif
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#endif
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|
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// Macro to save all registers, stack pointer into the TCB.
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// Macro to save all registers, stack pointer into the TCB.
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#define portSAVE_CONTEXT() \
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#define portSAVE_CONTEXT() \
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asm volatile ( \
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asm volatile ( \
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" .global pxCurrentTCB \n\t" \
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" .global pxCurrentTCB \n\t" \
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" # make rooms in stack \n\t" \
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" # make rooms in stack \n\t" \
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" l.addi r1, r1, -132 \n\t" \
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" l.addi r1, r1, -128 \n\t" \
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" # early save r3-r5, these are clobber register\n\t" \
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" # early save r3-r5, these are clobber register\n\t" \
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" l.sw 0x08(r1), r3 \n\t" \
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" l.sw 0x08(r1), r3 \n\t" \
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" l.sw 0x0C(r1), r4 \n\t" \
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" l.sw 0x0C(r1), r4 \n\t" \
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" l.sw 0x10(r1), r5 \n\t" \
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" l.sw 0x10(r1), r5 \n\t" \
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" # save SPR_ESR_BASE(0), SPR_EPCR_BASE(0)\n\t" \
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" # save SPR_ESR_BASE(0), SPR_EPCR_BASE(0)\n\t" \
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" l.mfspr r3, r0, (0<<11) + 64 \n\t" \
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" l.mfspr r3, r0, (0<<11) + 64 \n\t" \
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" l.mfspr r4, r0, (0<<11) + 32 \n\t" \
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" l.mfspr r4, r0, (0<<11) + 32 \n\t" \
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" l.sw 0x78(r1), r3 \n\t" \
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" l.sw 0x78(r1), r3 \n\t" \
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" l.sw 0x7C(r1), r4 \n\t" \
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" l.sw 0x7C(r1), r4 \n\t" \
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" l.sw 0x00(r1), r9 \n\t" \
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" l.sw 0x00(r1), r9 \n\t" \
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" # disable interrupts \n\t" \
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" # disable interrupts \n\t" \
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" l.jal vPortDisableInterrupts \n\t" \
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" l.jal vPortDisableInterrupts \n\t" \
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" # Save Context \n\t" \
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" # Save Context \n\t" \
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" l.sw 0x04(r1), r2 \n\t" \
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" l.sw 0x04(r1), r2 \n\t" \
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" l.sw 0x14(r1), r6 \n\t" \
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" l.sw 0x14(r1), r6 \n\t" \
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" l.sw 0x18(r1), r7 \n\t" \
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" l.sw 0x18(r1), r7 \n\t" \
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" l.sw 0x1C(r1), r8 \n\t" \
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" l.sw 0x1C(r1), r8 \n\t" \
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" l.sw 0x20(r1), r10 \n\t" \
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" l.sw 0x20(r1), r10 \n\t" \
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" l.sw 0x24(r1), r11 \n\t" \
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" l.sw 0x24(r1), r11 \n\t" \
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" l.sw 0x28(r1), r12 \n\t" \
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" l.sw 0x28(r1), r12 \n\t" \
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" l.sw 0x2C(r1), r13 \n\t" \
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" l.sw 0x2C(r1), r13 \n\t" \
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" l.sw 0x30(r1), r14 \n\t" \
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" l.sw 0x30(r1), r14 \n\t" \
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" l.sw 0x34(r1), r15 \n\t" \
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" l.sw 0x34(r1), r15 \n\t" \
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" l.sw 0x38(r1), r16 \n\t" \
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" l.sw 0x38(r1), r16 \n\t" \
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" l.sw 0x3C(r1), r17 \n\t" \
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" l.sw 0x3C(r1), r17 \n\t" \
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" l.sw 0x40(r1), r18 \n\t" \
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" l.sw 0x40(r1), r18 \n\t" \
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" l.sw 0x44(r1), r19 \n\t" \
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" l.sw 0x44(r1), r19 \n\t" \
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" l.sw 0x48(r1), r20 \n\t" \
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" l.sw 0x48(r1), r20 \n\t" \
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" l.sw 0x4C(r1), r21 \n\t" \
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" l.sw 0x4C(r1), r21 \n\t" \
|
" l.sw 0x50(r1), r22 \n\t" \
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" l.sw 0x50(r1), r22 \n\t" \
|
" l.sw 0x54(r1), r23 \n\t" \
|
" l.sw 0x54(r1), r23 \n\t" \
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" l.sw 0x58(r1), r24 \n\t" \
|
" l.sw 0x58(r1), r24 \n\t" \
|
" l.sw 0x5C(r1), r25 \n\t" \
|
" l.sw 0x5C(r1), r25 \n\t" \
|
" l.sw 0x60(r1), r26 \n\t" \
|
" l.sw 0x60(r1), r26 \n\t" \
|
" l.sw 0x64(r1), r27 \n\t" \
|
" l.sw 0x64(r1), r27 \n\t" \
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" l.sw 0x68(r1), r28 \n\t" \
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" l.sw 0x68(r1), r28 \n\t" \
|
" l.sw 0x6C(r1), r29 \n\t" \
|
" l.sw 0x6C(r1), r29 \n\t" \
|
" l.sw 0x70(r1), r30 \n\t" \
|
" l.sw 0x70(r1), r30 \n\t" \
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" l.sw 0x74(r1), r31 \n\t" \
|
" l.sw 0x74(r1), r31 \n\t" \
|
" # Save the top of stack in TCB \n\t" \
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" # Save the top of stack in TCB \n\t" \
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" l.movhi r3, hi(pxCurrentTCB) \n\t" \
|
" l.movhi r3, hi(pxCurrentTCB) \n\t" \
|
" l.ori r3, r3, lo(pxCurrentTCB)\n\t" \
|
" l.ori r3, r3, lo(pxCurrentTCB)\n\t" \
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" l.lwz r3, 0x0(r3) \n\t" \
|
" l.lwz r3, 0x0(r3) \n\t" \
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" l.sw 0x0(r3), r1 \n\t" \
|
" l.sw 0x0(r3), r1 \n\t" \
|
" # restore clobber register \n\t" \
|
" # restore clobber register \n\t" \
|
" l.lwz r3, 0x08(r1) \n\t" \
|
" l.lwz r3, 0x08(r1) \n\t" \
|
" l.lwz r4, 0x0C(r1) \n\t" \
|
" l.lwz r4, 0x0C(r1) \n\t" \
|
" l.lwz r5, 0x10(r1) \n\t" \
|
" l.lwz r5, 0x10(r1) \n\t" \
|
);
|
);
|
|
|
#define portRESTORE_CONTEXT() \
|
#define portRESTORE_CONTEXT() \
|
asm volatile ( \
|
asm volatile ( \
|
" .global pxCurrentTCB \n\t" \
|
" .global pxCurrentTCB \n\t" \
|
" # restore stack pointer \n\t" \
|
" # restore stack pointer \n\t" \
|
" l.movhi r3, hi(pxCurrentTCB) \n\t" \
|
" l.movhi r3, hi(pxCurrentTCB) \n\t" \
|
" l.ori r3, r3, lo(pxCurrentTCB)\n\t" \
|
" l.ori r3, r3, lo(pxCurrentTCB)\n\t" \
|
" l.lwz r3, 0x0(r3) \n\t" \
|
" l.lwz r3, 0x0(r3) \n\t" \
|
" l.lwz r1, 0x0(r3) \n\t" \
|
" l.lwz r1, 0x0(r3) \n\t" \
|
" # restore context \n\t" \
|
" # restore context \n\t" \
|
" l.lwz r9, 0x00(r1) \n\t" \
|
" l.lwz r9, 0x00(r1) \n\t" \
|
" l.lwz r2, 0x04(r1) \n\t" \
|
" l.lwz r2, 0x04(r1) \n\t" \
|
" l.lwz r6, 0x14(r1) \n\t" \
|
" l.lwz r6, 0x14(r1) \n\t" \
|
" l.lwz r7, 0x18(r1) \n\t" \
|
" l.lwz r7, 0x18(r1) \n\t" \
|
" l.lwz r8, 0x1C(r1) \n\t" \
|
" l.lwz r8, 0x1C(r1) \n\t" \
|
" l.lwz r10, 0x20(r1) \n\t" \
|
" l.lwz r10, 0x20(r1) \n\t" \
|
" l.lwz r11, 0x24(r1) \n\t" \
|
" l.lwz r11, 0x24(r1) \n\t" \
|
" l.lwz r12, 0x28(r1) \n\t" \
|
" l.lwz r12, 0x28(r1) \n\t" \
|
" l.lwz r13, 0x2C(r1) \n\t" \
|
" l.lwz r13, 0x2C(r1) \n\t" \
|
" l.lwz r14, 0x30(r1) \n\t" \
|
" l.lwz r14, 0x30(r1) \n\t" \
|
" l.lwz r15, 0x34(r1) \n\t" \
|
" l.lwz r15, 0x34(r1) \n\t" \
|
" l.lwz r16, 0x38(r1) \n\t" \
|
" l.lwz r16, 0x38(r1) \n\t" \
|
" l.lwz r17, 0x3C(r1) \n\t" \
|
" l.lwz r17, 0x3C(r1) \n\t" \
|
" l.lwz r18, 0x40(r1) \n\t" \
|
" l.lwz r18, 0x40(r1) \n\t" \
|
" l.lwz r19, 0x44(r1) \n\t" \
|
" l.lwz r19, 0x44(r1) \n\t" \
|
" l.lwz r20, 0x48(r1) \n\t" \
|
" l.lwz r20, 0x48(r1) \n\t" \
|
" l.lwz r21, 0x4C(r1) \n\t" \
|
" l.lwz r21, 0x4C(r1) \n\t" \
|
" l.lwz r22, 0x50(r1) \n\t" \
|
" l.lwz r22, 0x50(r1) \n\t" \
|
" l.lwz r23, 0x54(r1) \n\t" \
|
" l.lwz r23, 0x54(r1) \n\t" \
|
" l.lwz r24, 0x58(r1) \n\t" \
|
" l.lwz r24, 0x58(r1) \n\t" \
|
" l.lwz r25, 0x5C(r1) \n\t" \
|
" l.lwz r25, 0x5C(r1) \n\t" \
|
" l.lwz r26, 0x60(r1) \n\t" \
|
" l.lwz r26, 0x60(r1) \n\t" \
|
" l.lwz r27, 0x64(r1) \n\t" \
|
" l.lwz r27, 0x64(r1) \n\t" \
|
" l.lwz r28, 0x68(r1) \n\t" \
|
" l.lwz r28, 0x68(r1) \n\t" \
|
" l.lwz r29, 0x6C(r1) \n\t" \
|
" l.lwz r29, 0x6C(r1) \n\t" \
|
" l.lwz r30, 0x70(r1) \n\t" \
|
" l.lwz r30, 0x70(r1) \n\t" \
|
" l.lwz r31, 0x74(r1) \n\t" \
|
" l.lwz r31, 0x74(r1) \n\t" \
|
" # restore SPR_ESR_BASE(0), SPR_EPCR_BASE(0)\n\t" \
|
" # restore SPR_ESR_BASE(0), SPR_EPCR_BASE(0)\n\t" \
|
" l.lwz r3, 0x78(r1) \n\t" \
|
" l.lwz r3, 0x78(r1) \n\t" \
|
" l.lwz r4, 0x7C(r1) \n\t" \
|
" l.lwz r4, 0x7C(r1) \n\t" \
|
" l.mtspr r0, r3, (0<<11) + 64 \n\t" \
|
" l.mtspr r0, r3, (0<<11) + 64 \n\t" \
|
" l.mtspr r0, r4, (0<<11) + 32 \n\t" \
|
" l.mtspr r0, r4, (0<<11) + 32 \n\t" \
|
" # restore clobber register \n\t" \
|
" # restore clobber register \n\t" \
|
" l.lwz r3, 0x08(r1) \n\t" \
|
" l.lwz r3, 0x08(r1) \n\t" \
|
" l.lwz r4, 0x0C(r1) \n\t" \
|
" l.lwz r4, 0x0C(r1) \n\t" \
|
" l.lwz r5, 0x10(r1) \n\t" \
|
" l.lwz r5, 0x10(r1) \n\t" \
|
|
" l.addi r1, r1, 128 \n\t" \
|
" l.rfe \n\t" \
|
" l.rfe \n\t" \
|
" l.nop \n\t" \
|
" l.nop \n\t" \
|
);
|
);
|
|
|
#endif /* PORTMACRO_H */
|
#endif /* PORTMACRO_H */
|
|
|
