2 FreeRTOS V7.5.1 - Copyright (C) 2013 Real Time Engineers Ltd.
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4 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
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6 ***************************************************************************
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8 * FreeRTOS provides completely free yet professionally developed, *
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9 * robust, strictly quality controlled, supported, and cross *
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10 * platform software that has become a de facto standard. *
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12 * Help yourself get started quickly and support the FreeRTOS *
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13 * project by purchasing a FreeRTOS tutorial book, reference *
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14 * manual, or both from: http://www.FreeRTOS.org/Documentation *
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18 ***************************************************************************
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20 This file is part of the FreeRTOS distribution.
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22 FreeRTOS is free software; you can redistribute it and/or modify it under
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23 the terms of the GNU General Public License (version 2) as published by the
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24 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
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26 >>! NOTE: The modification to the GPL is included to allow you to distribute
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27 >>! a combined work that includes FreeRTOS without being obliged to provide
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28 >>! the source code for proprietary components outside of the FreeRTOS
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31 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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32 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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33 FOR A PARTICULAR PURPOSE. Full license text is available from the following
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34 link: http://www.freertos.org/a00114.html
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38 ***************************************************************************
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40 * Having a problem? Start by reading the FAQ "My application does *
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41 * not run, what could be wrong?" *
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43 * http://www.FreeRTOS.org/FAQHelp.html *
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45 ***************************************************************************
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47 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
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48 license and Real Time Engineers Ltd. contact details.
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50 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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51 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
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52 compatible FAT file system, and our tiny thread aware UDP/IP stack.
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54 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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55 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
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56 licenses offer ticketed support, indemnification and middleware.
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58 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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59 engineered and independently SIL3 certified version for use in safety and
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60 mission critical applications that require provable dependability.
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73 #if !defined(_SERIES) || _SERIES != 18
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74 #error "WizC supports FreeRTOS on the Microchip PIC18-series only"
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77 #if !defined(QUICKCALL) || QUICKCALL != 1
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78 #error "QuickCall must be enabled (see ProjectOptions/Optimisations)"
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84 #define portCHAR char
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85 #define portFLOAT float
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86 #define portDOUBLE portFLOAT
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87 #define portLONG long
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88 #define portSHORT short
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89 #define portSTACK_TYPE unsigned char
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90 #define portBASE_TYPE char
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92 #if( configUSE_16_BIT_TICKS == 1 )
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93 typedef unsigned portSHORT portTickType;
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94 #define portMAX_DELAY ( portTickType ) ( 0xFFFF )
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96 typedef unsigned portLONG portTickType;
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97 #define portMAX_DELAY ( portTickType ) ( 0xFFFFFFFF )
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100 #define portBYTE_ALIGNMENT 1
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102 /*-----------------------------------------------------------*/
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105 * Constant used for context switch macro when we require the interrupt
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106 * enable state to be forced when the interrupted task is switched back in.
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108 #define portINTERRUPTS_FORCED (0x01)
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111 * Constant used for context switch macro when we require the interrupt
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112 * enable state to be unchanged when the interrupted task is switched back in.
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114 #define portINTERRUPTS_UNCHANGED (0x00)
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116 /* Initial interrupt enable state for newly created tasks. This value is
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117 * used when a task switches in for the first time.
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119 #define portINTERRUPTS_INITIAL_STATE (portINTERRUPTS_FORCED)
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122 * Macros to modify the global interrupt enable bit in INTCON.
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124 #define portDISABLE_INTERRUPTS() \
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128 } while(bGIE) // MicroChip recommends this check!
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130 #define portENABLE_INTERRUPTS() \
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136 /*-----------------------------------------------------------*/
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139 * Critical section macros.
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141 extern unsigned portCHAR ucCriticalNesting;
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143 #define portNO_CRITICAL_SECTION_NESTING ( ( unsigned portCHAR ) 0 )
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145 #define portENTER_CRITICAL() \
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148 portDISABLE_INTERRUPTS(); \
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151 * Now interrupts are disabled ucCriticalNesting \
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152 * can be accessed directly. Increment \
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153 * ucCriticalNesting to keep a count of how \
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154 * many times portENTER_CRITICAL() has been called. \
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156 ucCriticalNesting++; \
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159 #define portEXIT_CRITICAL() \
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162 if(ucCriticalNesting > portNO_CRITICAL_SECTION_NESTING) \
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165 * Decrement the nesting count as we are leaving a \
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166 * critical section. \
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168 ucCriticalNesting--; \
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172 * If the nesting level has reached zero then \
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173 * interrupts should be re-enabled. \
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175 if( ucCriticalNesting == portNO_CRITICAL_SECTION_NESTING ) \
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177 portENABLE_INTERRUPTS(); \
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181 /*-----------------------------------------------------------*/
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184 * The minimal stacksize is calculated on the first reference of
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185 * portMINIMAL_STACK_SIZE. Some input to this calculation is
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186 * compiletime determined, other input is port-defined (see port.c)
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188 extern unsigned portSHORT usPortCALCULATE_MINIMAL_STACK_SIZE( void );
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189 extern unsigned portSHORT usCalcMinStackSize;
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191 #define portMINIMAL_STACK_SIZE \
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192 ((usCalcMinStackSize == 0) \
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193 ? usPortCALCULATE_MINIMAL_STACK_SIZE() \
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194 : usCalcMinStackSize )
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197 * WizC uses a downgrowing stack
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199 #define portSTACK_GROWTH ( -1 )
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201 /*-----------------------------------------------------------*/
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204 * Macro's that pushes all the registers that make up the context of a task onto
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205 * the stack, then saves the new top of stack into the TCB. TOSU and TBLPTRU
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206 * are only saved/restored on devices with more than 64kB (32k Words) ROM.
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208 * The stackpointer is helt by WizC in FSR2 and points to the first free byte.
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209 * WizC uses a "downgrowing" stack. There is no framepointer.
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211 * We keep track of the interruptstatus using ucCriticalNesting. When this
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212 * value equals zero, interrupts have to be enabled upon exit from the
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213 * portRESTORE_CONTEXT macro.
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215 * If this is called from an ISR then the interrupt enable bits must have been
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216 * set for the ISR to ever get called. Therefore we want to save
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217 * ucCriticalNesting with value zero. This means the interrupts will again be
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218 * re-enabled when the interrupted task is switched back in.
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220 * If this is called from a manual context switch (i.e. from a call to yield),
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221 * then we want to keep the current value of ucCritialNesting so it is restored
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222 * with its current value. This allows a yield from within a critical section.
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224 * The compiler uses some locations at the bottom of RAM for temporary
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225 * storage. The compiler may also have been instructed to optimize
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226 * function-parameters and local variables to global storage. The compiler
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227 * uses an area called LocOpt for this wizC feature.
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228 * The total overheadstorage has to be saved in it's entirety as part of
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229 * a task context. These macro's store/restore from data address 0x0000 to
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230 * (OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE - 1).
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231 * OVERHEADPAGE0, LOCOPTSIZE and MAXLOCOPTSIZE are compiler-generated
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232 * assembler definitions.
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235 #define portSAVE_CONTEXT( ucInterruptForced ) \
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238 portDISABLE_INTERRUPTS(); \
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242 ; Push the relevant SFR's onto the task's stack \
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244 movff STATUS,POSTDEC2 \
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245 movff WREG,POSTDEC2 \
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246 movff BSR,POSTDEC2 \
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247 movff PRODH,POSTDEC2 \
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248 movff PRODL,POSTDEC2 \
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249 movff FSR0H,POSTDEC2 \
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250 movff FSR0L,POSTDEC2 \
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251 movff FSR1H,POSTDEC2 \
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252 movff FSR1L,POSTDEC2 \
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253 movff TABLAT,POSTDEC2 \
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254 if __ROMSIZE > 0x8000 \
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255 movff TBLPTRU,POSTDEC2 \
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257 movff TBLPTRH,POSTDEC2 \
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258 movff TBLPTRL,POSTDEC2 \
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259 if __ROMSIZE > 0x8000 \
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260 movff PCLATU,POSTDEC2 \
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262 movff PCLATH,POSTDEC2 \
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264 ; Store the compiler-scratch-area as described above. \
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266 movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
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267 clrf FSR0L,ACCESS \
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268 clrf FSR0H,ACCESS \
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270 movff POSTINC0,POSTDEC2 \
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271 decfsz WREG,W,ACCESS \
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272 SMARTJUMP _rtos_S1 \
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274 ; Save the pic call/return-stack belonging to the \
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275 ; current task by copying it to the task's software- \
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276 ; stack. We save the hardware stack pointer (which \
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277 ; is the number of addresses on the stack) in the \
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278 ; W-register first because we need it later and it \
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279 ; is modified in the save-loop by executing pop's. \
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280 ; After the loop the W-register is stored on the \
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283 movf STKPTR,W,ACCESS \
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286 if __ROMSIZE > 0x8000 \
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287 movff TOSU,POSTDEC2 \
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289 movff TOSH,POSTDEC2 \
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290 movff TOSL,POSTDEC2 \
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292 tstfsz STKPTR,ACCESS \
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293 SMARTJUMP _rtos_S2 \
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295 movwf POSTDEC2,ACCESS \
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297 ; Next the value for ucCriticalNesting used by the \
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298 ; task is stored on the stack. When \
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299 ; (ucInterruptForced == portINTERRUPTS_FORCED), we save \
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300 ; it as 0 (portNO_CRITICAL_SECTION_NESTING). \
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302 if ucInterruptForced == portINTERRUPTS_FORCED \
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303 clrf POSTDEC2,ACCESS \
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305 movff ucCriticalNesting,POSTDEC2 \
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308 ; Save the new top of the software stack in the TCB. \
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310 movff pxCurrentTCB,FSR0L \
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311 movff pxCurrentTCB+1,FSR0H \
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312 movff FSR2L,POSTINC0 \
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313 movff FSR2H,POSTINC0 \
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314 _Pragma("asmend") \
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317 /************************************************************/
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320 * This is the reverse of portSAVE_CONTEXT.
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322 #define portRESTORE_CONTEXT() \
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327 ; Set FSR0 to point to pxCurrentTCB->pxTopOfStack. \
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329 movff pxCurrentTCB,FSR0L \
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330 movff pxCurrentTCB+1,FSR0H \
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332 ; De-reference FSR0 to set the address it holds into \
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333 ; FSR2 (i.e. *( pxCurrentTCB->pxTopOfStack ) ). FSR2 \
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334 ; is used by wizC as stackpointer. \
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336 movff POSTINC0,FSR2L \
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337 movff POSTINC0,FSR2H \
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339 ; Next, the value for ucCriticalNesting used by the \
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340 ; task is retrieved from the stack. \
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342 movff PREINC2,ucCriticalNesting \
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344 ; Rebuild the pic call/return-stack. The number of \
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345 ; return addresses is the next item on the task stack. \
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346 ; Save this number in PRODL. Then fetch the addresses \
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347 ; and store them on the hardwarestack. \
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348 ; The datasheets say we can't use movff here... \
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350 movff PREINC2,PRODL // Use PRODL as tempregister \
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351 clrf STKPTR,ACCESS \
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354 movf PREINC2,W,ACCESS \
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355 movwf TOSL,ACCESS \
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356 movf PREINC2,W,ACCESS \
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357 movwf TOSH,ACCESS \
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358 if __ROMSIZE > 0x8000 \
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359 movf PREINC2,W,ACCESS \
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360 movwf TOSU,ACCESS \
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364 decfsz PRODL,F,ACCESS \
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365 SMARTJUMP _rtos_R1 \
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367 ; Restore the compiler's working storage area to page 0 \
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369 movlw OVERHEADPAGE0-LOCOPTSIZE+MAXLOCOPTSIZE \
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370 movwf FSR0L,ACCESS \
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371 clrf FSR0H,ACCESS \
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373 decf FSR0L,F,ACCESS \
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374 movff PREINC2,INDF0 \
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375 tstfsz FSR0L,ACCESS \
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376 SMARTJUMP _rtos_R2 \
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378 ; Restore the sfr's forming the tasks context. \
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379 ; We cannot yet restore bsr, w and status because \
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380 ; we need these registers for a final test. \
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382 movff PREINC2,PCLATH \
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383 if __ROMSIZE > 0x8000 \
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384 movff PREINC2,PCLATU \
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386 clrf PCLATU,ACCESS \
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388 movff PREINC2,TBLPTRL \
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389 movff PREINC2,TBLPTRH \
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390 if __ROMSIZE > 0x8000 \
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391 movff PREINC2,TBLPTRU \
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393 clrf TBLPTRU,ACCESS \
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395 movff PREINC2,TABLAT \
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396 movff PREINC2,FSR1L \
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397 movff PREINC2,FSR1H \
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398 movff PREINC2,FSR0L \
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399 movff PREINC2,FSR0H \
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400 movff PREINC2,PRODL \
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401 movff PREINC2,PRODH \
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403 ; The return from portRESTORE_CONTEXT() depends on \
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404 ; the value of ucCriticalNesting. When it is zero, \
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405 ; interrupts need to be enabled. This is done via a \
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406 ; retfie instruction because we need the \
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407 ; interrupt-enabling and the return to the restored \
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408 ; task to be uninterruptable. \
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409 ; Because bsr, status and W are affected by the test \
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410 ; they are restored after the test. \
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412 movlb ucCriticalNesting>>8 \
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413 tstfsz ucCriticalNesting,BANKED \
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414 SMARTJUMP _rtos_R4 \
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416 movff PREINC2,BSR \
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417 movff PREINC2,WREG \
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418 movff PREINC2,STATUS \
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419 retfie 0 ; Return enabling interrupts \
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421 movff PREINC2,BSR \
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422 movff PREINC2,WREG \
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423 movff PREINC2,STATUS \
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424 return 0 ; Return without affecting interrupts \
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425 _Pragma("asmend") \
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428 /*-----------------------------------------------------------*/
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430 #define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
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432 /*-----------------------------------------------------------*/
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434 extern void vPortYield( void );
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435 #define portYIELD() vPortYield()
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437 #define portNOP() _Pragma("asm") \
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441 /*-----------------------------------------------------------*/
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443 #define portTASK_FUNCTION( xFunction, pvParameters ) \
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444 void pointed xFunction( void *pvParameters ) \
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445 _Pragma(asmfunc xFunction)
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447 #define portTASK_FUNCTION_PROTO portTASK_FUNCTION
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448 /*-----------------------------------------------------------*/
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454 #endif /* PORTMACRO_H */
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