text: /*
   * FreeRTOS Kernel V10.2.1
   * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy of
   * this software and associated documentation files (the "Software"), to deal in
   * the Software without restriction, including without limitation the rights to
   * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   * the Software, and to permit persons to whom the Software is furnished to do so,
   * subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
   * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
   * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
   * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
   * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
   *
   * http://www.FreeRTOS.org
   * http://aws.amazon.com/freertos
   *
   * 1 tab == 4 spaces!
   */
  
  #ifndef PORTMACRO_H
  #define PORTMACRO_H
  
  /* System include files */
  #include <xc.h>
  
  #ifdef __cplusplus
  extern "C" {
  #endif
  
  /*-----------------------------------------------------------
   * Port specific definitions.
   *
   * The settings in this file configure FreeRTOS correctly for the
   * given hardware and compiler.
   *
   * These settings should not be altered.
   *-----------------------------------------------------------
   */
  
  /* Type definitions. */
  #define portCHAR		char
  #define portFLOAT		float
  #define portDOUBLE		double
  #define portLONG		long
  #define portSHORT		short
  #define portSTACK_TYPE	uint32_t
  #define portBASE_TYPE	long
  
  typedef portSTACK_TYPE StackType_t;
  typedef long BaseType_t;
  typedef unsigned long UBaseType_t;
  
  #if( configUSE_16_BIT_TICKS == 1 )
  	typedef uint16_t TickType_t;
  	#define portMAX_DELAY ( TickType_t ) 0xffff
  #else
  	typedef uint32_t TickType_t;
  	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
  
  	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
  	not need to be guarded with a critical section. */
  	#define portTICK_TYPE_IS_ATOMIC 1
  #endif
  /*-----------------------------------------------------------*/
  
  /* Hardware specifics. */
  #define portBYTE_ALIGNMENT			8
  #define portSTACK_GROWTH			-1
  #define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
  /*-----------------------------------------------------------*/
  
  /* Critical section management. */
  #define portIPL_SHIFT				( 10UL )
  /* Don't straddle the CEE bit.  Interrupts calling FreeRTOS functions should
  never have higher IPL bits set anyway. */
  #define portALL_IPL_BITS			( 0x7FUL << portIPL_SHIFT )
  #define portSW0_BIT					( 0x01 << 8 )
  
  /* This clears the IPL bits, then sets them to
  configMAX_SYSCALL_INTERRUPT_PRIORITY.  An extra check is performed if
  configASSERT() is defined to ensure an assertion handler does not inadvertently
  attempt to lower the IPL when the call to assert was triggered because the IPL
  value was found to be above configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR
  safe FreeRTOS API function was executed.  ISR safe FreeRTOS API functions are
  those that end in FromISR.  FreeRTOS maintains a separate interrupt API to
  ensure API function and interrupt entry is as fast and as simple as possible. */
  #ifdef configASSERT
  	#define portDISABLE_INTERRUPTS()											\
  	{																			\
  	uint32_t ulStatus;															\
  																				\
  		/* Mask interrupts at and below the kernel interrupt priority. */		\
  		ulStatus = _CP0_GET_STATUS();											\
  																				\
  		/* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */	\
  		if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY ) \
  		{																		\
  			ulStatus &= ~portALL_IPL_BITS;										\
  			_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
  		}																		\
  	}
  #else /* configASSERT */
  	#define portDISABLE_INTERRUPTS()										\
  	{																		\
  	uint32_t ulStatus;														\
  																			\
  		/* Mask interrupts at and below the kernel interrupt priority. */	\
  		ulStatus = _CP0_GET_STATUS();										\
  		ulStatus &= ~portALL_IPL_BITS;										\
  		_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
  	}
  #endif /* configASSERT */
  
  #define portENABLE_INTERRUPTS()											\
  {																		\
  uint32_t ulStatus;														\
  																		\
  	/* Unmask all interrupts. */										\
  	ulStatus = _CP0_GET_STATUS();										\
  	ulStatus &= ~portALL_IPL_BITS;										\
  	_CP0_SET_STATUS( ulStatus );										\
  }
  
  
  extern void vTaskEnterCritical( void );
  extern void vTaskExitCritical( void );
  #define portCRITICAL_NESTING_IN_TCB	1
  #define portENTER_CRITICAL()		vTaskEnterCritical()
  #define portEXIT_CRITICAL()			vTaskExitCritical()
  
  extern UBaseType_t uxPortSetInterruptMaskFromISR();
  extern void vPortClearInterruptMaskFromISR( UBaseType_t );
  #define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMaskFromISR()
  #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusRegister ) vPortClearInterruptMaskFromISR( uxSavedStatusRegister )
  
  #if ( __mips_hard_float == 0 ) && ( configUSE_TASK_FPU_SUPPORT == 1 )
      #error configUSE_TASK_FPU_SUPPORT can only be set to 1 when the part supports a hardware FPU module.
  #endif
  
  #if ( __mips_hard_float == 1 ) && ( configUSE_TASK_FPU_SUPPORT == 1 )
      void vPortTaskUsesFPU( void );
  	#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
  #endif
  
  #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
  	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
  #endif
  
  #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
  
  	/* Check the configuration. */
  	#if( configMAX_PRIORITIES > 32 )
  		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
  	#endif
  
  	/* Store/clear the ready priorities in a bit map. */
  	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
  	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
  
  	/*-----------------------------------------------------------*/
  
  	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - _clz( ( uxReadyPriorities ) ) )
  
  #endif /* taskRECORD_READY_PRIORITY */
  
  /*-----------------------------------------------------------*/
  
  /* Task utilities. */
  
  #define portYIELD()								\
  {												\
  uint32_t ulCause;								\
  												\
  	/* Trigger software interrupt. */			\
  	ulCause = _CP0_GET_CAUSE();					\
  	ulCause |= portSW0_BIT;						\
  	_CP0_SET_CAUSE( ulCause );					\
  }
  
  extern volatile UBaseType_t uxInterruptNesting;
  #define portASSERT_IF_IN_ISR() configASSERT( uxInterruptNesting == 0 )
  
  #define portNOP()	__asm volatile ( "nop" )
  
  /*-----------------------------------------------------------*/
  
  /* Task function macros as described on the FreeRTOS.org WEB site. */
  #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) __attribute__((noreturn))
  #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
  /*-----------------------------------------------------------*/
  
  #define portEND_SWITCHING_ISR( xSwitchRequired )	if( xSwitchRequired )	\
  													{						\
  														portYIELD();		\
  													}
  
  /* Required by the kernel aware debugger. */
  #ifdef __DEBUG
  	#define portREMOVE_STATIC_QUALIFIER
  #endif
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif /* PORTMACRO_H */
  
  