mirror of
https://github.com/QuantumLeaps/qpc.git
synced 2025-01-28 07:03:10 +08:00
84 lines
3.5 KiB
C
84 lines
3.5 KiB
C
/**
|
|
* @file
|
|
* @brief QK/C port, preemptive QK kernel, MPLAB-X XC32 compiler
|
|
* @ingroup ports
|
|
* @cond
|
|
******************************************************************************
|
|
* Last updated for version 6.5.1
|
|
* Last updated on 2019-06-12
|
|
*
|
|
* Q u a n t u m L e a P s
|
|
* ------------------------
|
|
* Modern Embedded Software
|
|
*
|
|
* Copyright (C) 2005-2019 Quantum Leaps, LLC. All rights reserved.
|
|
*
|
|
* This program is open source software: you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License as published
|
|
* by the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Alternatively, this program may be distributed and modified under the
|
|
* terms of Quantum Leaps commercial licenses, which expressly supersede
|
|
* the GNU General Public License and are specifically designed for
|
|
* licensees interested in retaining the proprietary status of their code.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or 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 License
|
|
* along with this program. If not, see <www.gnu.org/licenses/>.
|
|
*
|
|
* Contact information:
|
|
* <www.state-machine.com/licensing>
|
|
* <info@state-machine.com>
|
|
******************************************************************************
|
|
* @endcond
|
|
*/
|
|
#include "qf_port.h"
|
|
|
|
/*..........................................................................*/
|
|
void QK_init(void) {
|
|
INTCONSET = _INTCON_MVEC_MASK; /* configure multi-vectored interrupts */
|
|
|
|
IPC0bits.CS0IP = 1; /* priority 1 for Core Software Interrupt 0, NOTE1 */
|
|
IPC0bits.CS0IS = 0; /* sub-priority 0 for Core Software Interrupt 0 */
|
|
|
|
IFS0CLR = _IFS0_CS0IF_MASK; /* clear the Core Software Interrupt 0 flag */
|
|
IEC0SET = _IEC0_CS0IE_MASK; /* enable the Core Software Interrupt 0 */
|
|
}
|
|
|
|
/*..........................................................................*/
|
|
__attribute__((vector(_CORE_SOFTWARE_0_VECTOR),interrupt(IPL1AUTO), nomips16))
|
|
void QK_isr_(void) { /* NOTE2 */
|
|
IFS0CLR = _IFS0_CS0IF_MASK; /* clear the Core Software Interrupt 0 flag */
|
|
|
|
QF_INT_DISABLE();
|
|
_mtc0(_CP0_STATUS, _CP0_STATUS_SELECT, 0U); /* drop IPL to 0 */
|
|
QK_activate_(); /* execute higher priority active ojbect */
|
|
_mtc0(_CP0_STATUS, _CP0_STATUS_SELECT, 1U << 10); /*restore IPL to 1 */
|
|
QF_INT_ENABLE();
|
|
}
|
|
|
|
/*****************************************************************************
|
|
* NOTE1:
|
|
* The Core Software Interrupt 0 at priority 1, sub-priority 0 is reserved for
|
|
* QK. All other interrupts must have higher priority, e.g. 2-7. The user may
|
|
* _not_ set the shadow register set to priority 1.
|
|
*
|
|
* NOTE2:
|
|
* The QK_isr_() Core Software Interrupt 0 is used to perform the scheduling
|
|
* (asynchronous preemption in QK). This ISR is configured to use software
|
|
* register stacking (IPL1SOFT), because it can nest on itself. The QK_isr_()
|
|
* runs at IPL1, which should be the lowest of all other ISRs. This will
|
|
* guarantee that the Core Software Interrupt 0 will not execute until all
|
|
* other interrupts have completed, including any nesting.
|
|
*
|
|
* Any ISR that interacts with QP must trigger Core Software Interrupt 0.
|
|
* This triggering is accomplished in the macros QK_ISR_ENTRY()/
|
|
* QK_ISR_EXIT(), which _must_ be placed at the entry and exit of every ISR,
|
|
* respectively.
|
|
*/
|