2 * FreeRTOS Kernel V10.2.0
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3 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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5 * Permission is hereby granted, free of charge, to any person obtaining a copy of
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6 * this software and associated documentation files (the "Software"), to deal in
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7 * the Software without restriction, including without limitation the rights to
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8 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9 * the Software, and to permit persons to whom the Software is furnished to do so,
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10 * subject to the following conditions:
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12 * The above copyright notice and this permission notice shall be included in all
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13 * copies or substantial portions of the Software.
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15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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22 * http://www.FreeRTOS.org
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23 * http://aws.amazon.com/freertos
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25 * 1 tab == 4 spaces!
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28 /* FreeRTOS includes. */
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29 #include "FreeRTOSConfig.h"
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31 /* Xilinx library includes. */
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32 #include "microblaze_exceptions_g.h"
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33 #include "xparameters.h"
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35 /* The context is oversized to allow functions called from the ISR to write
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36 back into the caller stack. */
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37 #if( XPAR_MICROBLAZE_USE_FPU != 0 )
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38 #define portCONTEXT_SIZE 136
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39 #define portMINUS_CONTEXT_SIZE -136
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41 #define portCONTEXT_SIZE 132
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42 #define portMINUS_CONTEXT_SIZE -132
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45 /* Offsets from the stack pointer at which saved registers are placed. */
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46 #define portR31_OFFSET 4
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47 #define portR30_OFFSET 8
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48 #define portR29_OFFSET 12
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49 #define portR28_OFFSET 16
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50 #define portR27_OFFSET 20
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51 #define portR26_OFFSET 24
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52 #define portR25_OFFSET 28
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53 #define portR24_OFFSET 32
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54 #define portR23_OFFSET 36
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55 #define portR22_OFFSET 40
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56 #define portR21_OFFSET 44
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57 #define portR20_OFFSET 48
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58 #define portR19_OFFSET 52
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59 #define portR18_OFFSET 56
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60 #define portR17_OFFSET 60
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61 #define portR16_OFFSET 64
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62 #define portR15_OFFSET 68
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63 #define portR14_OFFSET 72
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64 #define portR13_OFFSET 76
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65 #define portR12_OFFSET 80
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66 #define portR11_OFFSET 84
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67 #define portR10_OFFSET 88
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68 #define portR9_OFFSET 92
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69 #define portR8_OFFSET 96
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70 #define portR7_OFFSET 100
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71 #define portR6_OFFSET 104
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72 #define portR5_OFFSET 108
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73 #define portR4_OFFSET 112
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74 #define portR3_OFFSET 116
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75 #define portR2_OFFSET 120
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76 #define portCRITICAL_NESTING_OFFSET 124
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77 #define portMSR_OFFSET 128
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78 #define portFSR_OFFSET 132
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80 .extern pxCurrentTCB
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81 .extern XIntc_DeviceInterruptHandler
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82 .extern vTaskSwitchContext
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83 .extern uxCriticalNesting
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85 .extern ulTaskSwitchRequested
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86 .extern vPortExceptionHandler
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87 .extern pulStackPointerOnFunctionEntry
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89 .global _interrupt_handler
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90 .global VPortYieldASM
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91 .global vPortStartFirstTask
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92 .global vPortExceptionHandlerEntry
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95 .macro portSAVE_CONTEXT
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97 /* Make room for the context on the stack. */
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98 addik r1, r1, portMINUS_CONTEXT_SIZE
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100 /* Stack general registers. */
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101 swi r31, r1, portR31_OFFSET
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102 swi r30, r1, portR30_OFFSET
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103 swi r29, r1, portR29_OFFSET
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104 swi r28, r1, portR28_OFFSET
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105 swi r27, r1, portR27_OFFSET
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106 swi r26, r1, portR26_OFFSET
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107 swi r25, r1, portR25_OFFSET
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108 swi r24, r1, portR24_OFFSET
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109 swi r23, r1, portR23_OFFSET
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110 swi r22, r1, portR22_OFFSET
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111 swi r21, r1, portR21_OFFSET
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112 swi r20, r1, portR20_OFFSET
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113 swi r19, r1, portR19_OFFSET
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114 swi r18, r1, portR18_OFFSET
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115 swi r17, r1, portR17_OFFSET
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116 swi r16, r1, portR16_OFFSET
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117 swi r15, r1, portR15_OFFSET
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118 /* R14 is saved later as it needs adjustment if a yield is performed. */
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119 swi r13, r1, portR13_OFFSET
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120 swi r12, r1, portR12_OFFSET
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121 swi r11, r1, portR11_OFFSET
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122 swi r10, r1, portR10_OFFSET
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123 swi r9, r1, portR9_OFFSET
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124 swi r8, r1, portR8_OFFSET
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125 swi r7, r1, portR7_OFFSET
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126 swi r6, r1, portR6_OFFSET
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127 swi r5, r1, portR5_OFFSET
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128 swi r4, r1, portR4_OFFSET
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129 swi r3, r1, portR3_OFFSET
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130 swi r2, r1, portR2_OFFSET
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132 /* Stack the critical section nesting value. */
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133 lwi r18, r0, uxCriticalNesting
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134 swi r18, r1, portCRITICAL_NESTING_OFFSET
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138 swi r18, r1, portMSR_OFFSET
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140 #if( XPAR_MICROBLAZE_USE_FPU != 0 )
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143 swi r18, r1, portFSR_OFFSET
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146 /* Save the top of stack value to the TCB. */
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147 lwi r3, r0, pxCurrentTCB
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152 .macro portRESTORE_CONTEXT
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154 /* Load the top of stack value from the TCB. */
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155 lwi r18, r0, pxCurrentTCB
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158 /* Restore the general registers. */
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159 lwi r31, r1, portR31_OFFSET
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160 lwi r30, r1, portR30_OFFSET
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161 lwi r29, r1, portR29_OFFSET
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162 lwi r28, r1, portR28_OFFSET
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163 lwi r27, r1, portR27_OFFSET
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164 lwi r26, r1, portR26_OFFSET
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165 lwi r25, r1, portR25_OFFSET
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166 lwi r24, r1, portR24_OFFSET
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167 lwi r23, r1, portR23_OFFSET
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168 lwi r22, r1, portR22_OFFSET
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169 lwi r21, r1, portR21_OFFSET
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170 lwi r20, r1, portR20_OFFSET
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171 lwi r19, r1, portR19_OFFSET
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172 lwi r17, r1, portR17_OFFSET
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173 lwi r16, r1, portR16_OFFSET
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174 lwi r15, r1, portR15_OFFSET
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175 lwi r14, r1, portR14_OFFSET
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176 lwi r13, r1, portR13_OFFSET
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177 lwi r12, r1, portR12_OFFSET
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178 lwi r11, r1, portR11_OFFSET
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179 lwi r10, r1, portR10_OFFSET
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180 lwi r9, r1, portR9_OFFSET
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181 lwi r8, r1, portR8_OFFSET
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182 lwi r7, r1, portR7_OFFSET
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183 lwi r6, r1, portR6_OFFSET
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184 lwi r5, r1, portR5_OFFSET
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185 lwi r4, r1, portR4_OFFSET
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186 lwi r3, r1, portR3_OFFSET
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187 lwi r2, r1, portR2_OFFSET
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189 /* Reload the rmsr from the stack. */
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190 lwi r18, r1, portMSR_OFFSET
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193 #if( XPAR_MICROBLAZE_USE_FPU != 0 )
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194 /* Reload the FSR from the stack. */
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195 lwi r18, r1, portFSR_OFFSET
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199 /* Load the critical nesting value. */
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200 lwi r18, r1, portCRITICAL_NESTING_OFFSET
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201 swi r18, r0, uxCriticalNesting
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203 /* Test the critical nesting value. If it is non zero then the task last
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204 exited the running state using a yield. If it is zero, then the task
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205 last exited the running state through an interrupt. */
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207 bnei r18, exit_from_yield
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209 /* r18 was being used as a temporary. Now restore its true value from the
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211 lwi r18, r1, portR18_OFFSET
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213 /* Remove the stack frame. */
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214 addik r1, r1, portCONTEXT_SIZE
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216 /* Return using rtid so interrupts are re-enabled as this function is
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223 /* This function is used to exit portRESTORE_CONTEXT() if the task being
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224 returned to last left the Running state by calling taskYIELD() (rather than
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225 being preempted by an interrupt). */
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230 /* r18 was being used as a temporary. Now restore its true value from the
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232 lwi r18, r1, portR18_OFFSET
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234 /* Remove the stack frame. */
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235 addik r1, r1, portCONTEXT_SIZE
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237 /* Return to the task. */
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244 _interrupt_handler:
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248 /* Stack the return address. */
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249 swi r14, r1, portR14_OFFSET
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251 /* Switch to the ISR stack. */
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252 lwi r1, r0, pulISRStack
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254 /* The parameter to the interrupt handler. */
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255 ori r5, r0, configINTERRUPT_CONTROLLER_TO_USE
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257 /* Execute any pending interrupts. */
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258 bralid r15, XIntc_DeviceInterruptHandler
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261 /* See if a new task should be selected to execute. */
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262 lwi r18, r0, ulTaskSwitchRequested
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265 /* If ulTaskSwitchRequested is already zero, then jump straight to
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266 restoring the task that is already in the Running state. */
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267 beqi r18, task_switch_not_requested
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269 /* Set ulTaskSwitchRequested back to zero as a task switch is about to be
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271 swi r0, r0, ulTaskSwitchRequested
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273 /* ulTaskSwitchRequested was not 0 when tested. Select the next task to
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275 bralid r15, vTaskSwitchContext
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278 task_switch_not_requested:
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280 /* Restore the context of the next task scheduled to execute. */
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281 portRESTORE_CONTEXT
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290 /* Modify the return address so a return is done to the instruction after
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291 the call to VPortYieldASM. */
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293 swi r14, r1, portR14_OFFSET
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295 /* Switch to use the ISR stack. */
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296 lwi r1, r0, pulISRStack
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298 /* Select the next task to execute. */
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299 bralid r15, vTaskSwitchContext
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302 /* Restore the context of the next task scheduled to execute. */
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303 portRESTORE_CONTEXT
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307 vPortStartFirstTask:
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309 portRESTORE_CONTEXT
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313 #if ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 )
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317 vPortExceptionHandlerEntry:
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319 /* Take a copy of the stack pointer before vPortExecptionHandler is called,
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320 storing its value prior to the function stack frame being created. */
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321 swi r1, r0, pulStackPointerOnFunctionEntry
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322 bralid r15, vPortExceptionHandler
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325 #endif /* ( MICROBLAZE_EXCEPTIONS_ENABLED == 1 ) && ( configINSTALL_EXCEPTION_HANDLERS == 1 ) */
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