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80 lines
3.2 KiB
C++
80 lines
3.2 KiB
C++
//============================================================================
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// QP/C++ Real-Time Embedded Framework (RTEF)
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// Copyright (C) 2005 Quantum Leaps, LLC. All rights reserved.
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//
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
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//
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// This software is dual-licensed under the terms of the open source GNU
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// General Public License version 3 (or any later version), or alternatively,
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// under the terms of one of the closed source Quantum Leaps commercial
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// licenses.
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//
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// The terms of the open source GNU General Public License version 3
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// can be found at: <www.gnu.org/licenses/gpl-3.0>
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//
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// The terms of the closed source Quantum Leaps commercial licenses
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// can be found at: <www.state-machine.com/licensing>
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//
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// Redistributions in source code must retain this top-level comment block.
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// Plagiarizing this software to sidestep the license obligations is illegal.
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//
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// Contact information:
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// <www.state-machine.com>
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// <info@state-machine.com>
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//============================================================================
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//! @date Last updated on: 2023-08-31
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//! @version Last updated for: @ref qpcpp_7_3_0
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//!
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//! @file
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//! @brief QK/C++ port to PIC32, XC32 toolchain
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#define QP_IMPL 1U
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#include "qp_port.hpp"
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extern "C" {
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//............................................................................
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void QK_init(void) {
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INTCONSET = _INTCON_MVEC_MASK; // configure multi-vectored interrupts
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IPC0bits.CS0IP = 1; // priority 1 for Core Software Interrupt 0, NOTE1
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IPC0bits.CS0IS = 0; // sub-prioirty 0 for Core Software Interrupt 0
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IFS0CLR = _IFS0_CS0IF_MASK; // clear the Core Software Interrupt 0 flag
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IEC0SET = _IEC0_CS0IE_MASK; // enable the Core Software Interrupt 0
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}
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//............................................................................
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__attribute__((vector(_CORE_SOFTWARE_0_VECTOR),interrupt(IPL1AUTO), nomips16))
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void QK_isr_(void) { // see NOTE2
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IFS0CLR = _IFS0_CS0IF_MASK; // clear the Core Software Interrupt 0 flag
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QF_INT_DISABLE();
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_mtc0(_CP0_STATUS, _CP0_STATUS_SELECT, 0U); // drop IPL to 0
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(void)QK_activate_(); // asynchronously activate higher priority AO
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_mtc0(_CP0_STATUS, _CP0_STATUS_SELECT, 1U << 10); //restore IPL to 1
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QF_INT_ENABLE();
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}
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} // extern "C"
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//============================================================================
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// NOTE1:
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// The Core Software Interrupt 0 at priority 1, sub-priority 0 is reserved for
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// QK. All other interrupts must have higher priority, e.g. 2-7. The user may
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// _not_ set the shadow register set to priority 1.
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//
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// NOTE2:
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// The QK_isr_() Core Software Interrupt 0 is used to perform the scheduling
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// (asynchronous preemption in QK). This ISR is configured to use software
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// register stacking (IPL1SOFT), because it can nest on itself. The QK_isr_()
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// runs at IPL1, which should be the lowest of all other ISRs. This will
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// guarantee that the Core Software Interrupt 0 will not execute until all
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// other interrupts have completed, including any nesting.
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//
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// Any ISR that interacts with QP must trigger Core Software Interrupt 0.
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// This triggering is accomplished in the macros QK_ISR_ENTRY()/
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// QK_ISR_EXIT(), which _must_ be placed at the entry and exit of every ISR,
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// respectively.
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//
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