[158] | 1 | /////////////////////////////////////////////////////////////////////////////////// |
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| 2 | // File : ctx_handler.c |
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| 3 | // Date : 01/04/2012 |
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| 4 | // Authors : alain greiner & joel porquet |
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| 5 | // Copyright (c) UPMC-LIP6 |
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| 6 | //////////////////////////////////////////////////////////////////////////////////// |
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| 7 | // The ctx_handler.h and ctx_handler.c files are part of the GIET nano-kernel. |
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| 8 | // This code is used to support context switch when several tasks are executing |
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| 9 | // in time multiplexing on a single processor. |
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| 10 | // The tasks must be statically allocated to a processor in the boot phase, and |
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| 11 | // there is one private scheduler per processor: NB_CLUSTERS * NB_PROCS |
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| 12 | // Each sheduler contains up to NB_TASKS_MAX contexts. |
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| 13 | //////////////////////////////////////////////////////////////////////////////////// |
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| 14 | // A task context is an array of 64 words = 256 bytes. |
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| 15 | // It contains copies of processor registers, when the task is not running, |
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| 16 | // and some general informations associated to the task. |
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| 17 | // - It contains GPR[i], generally stored in slot (i). $0, *26 & $27 are not saved. |
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| 18 | // - It contains HI & LO registers. |
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| 19 | // - It contains CP0 registers: EPC, SR, CR. |
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| 20 | // - It contains CP2 registers : PTPR and MODE. |
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| 21 | // - It contains the TTY index for the terminal allocated to the task. |
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| 22 | // ctx[0] <- SR ctx[8] <- $8 ctx[16]<- $16 ctx[24]<- $24 ctx[32]<- EPC |
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| 23 | // ctx[1] <- $1 ctx[9] <- $9 ctx[17]<- $17 ctx[25]<- $25 ctx[33]<- CR |
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| 24 | // ctx[2] <- $2 ctx[10]<- $10 ctx[18]<- $18 ctx[26]<- LO ctx[34]<- TTY |
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| 25 | // ctx[3] <- $3 ctx[11]<- $11 ctx[19]<- $19 ctx[27]<- HI ctx[35]<- PTPR |
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| 26 | // ctx[4] <- $4 ctx[12]<- $12 ctx[20]<- $20 ctx[28]<- $28 ctx[36]<- MODE |
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| 27 | // ctx[5] <- $5 ctx[13]<- $13 ctx[21]<- $21 ctx[29]<- $29 ctx[37]<- reserved |
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| 28 | // ctx[6] <- $6 ctx[14]<- $14 ctx[22]<- $22 ctx[30]<- $30 ctx[38]<- reserved |
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| 29 | // ctx[7] <- $7 ctx[15]<- $15 ctx[23]<- $23 ctx[31]<- $31 ctx[39]<- reserved |
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| 30 | ///////////////////////////////////////////////////////////////////////////////////// |
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| 31 | |
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| 32 | #include <giet_config.h> |
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| 33 | #include <ctx_handler.h> |
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| 34 | #include <drivers.h> |
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| 35 | #include <common.h> |
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| 36 | |
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| 37 | extern void _task_switch(unsigned int *, unsigned int *); |
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| 38 | |
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| 39 | ///////////////////////////////////////////////////////////////////////////////// |
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| 40 | // Global variables |
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| 41 | ///////////////////////////////////////////////////////////////////////////////// |
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| 42 | |
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| 43 | static_scheduler_t _scheduler[NB_CLUSTERS * NB_PROCS]; |
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| 44 | |
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| 45 | ///////////////////////////////////////////////////////////////////////////////// |
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| 46 | // _ctx_select() |
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| 47 | // The scheduling policy is round-robin : for each processor, the task index is |
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| 48 | // incremented, modulo the number of tasks allocated to the processor. |
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| 49 | ///////////////////////////////////////////////////////////////////////////////// |
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| 50 | unsigned int _ctx_select( unsigned int curr_task_id, |
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| 51 | unsigned int proc_id ) |
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| 52 | { |
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| 53 | unsigned int tasks = _scheduler[proc_id].tasks; |
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| 54 | return (curr_task_id + 1) % tasks; |
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| 55 | } |
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| 56 | |
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| 57 | //////////////////////////////////////////////////////////////////////////////////// |
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| 58 | // _ctx_switch() |
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| 59 | // This function performs a context switch between the running task |
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| 60 | // and another task, selected by the _ctx_select() function. |
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| 61 | // It use the global variable scheduler[] : array indexed by the procid, |
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| 62 | // that has NB_CLUSTERS * NB_PROCS entries. |
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| 63 | // The return address contained in $31 is saved in the _current task context |
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| 64 | // (in the ctx[31] slot), and the function actually returns to the address |
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| 65 | // contained in the ctx[31] slot of the new task context. |
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| 66 | //////////////////////////////////////////////////////////////////////////////////// |
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| 67 | void _ctx_switch() |
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| 68 | { |
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| 69 | unsigned int* curr_context; // pointer on the current task context |
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| 70 | unsigned int* next_context; // pointer on the next task context |
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| 71 | |
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| 72 | unsigned int curr_task_id; |
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| 73 | unsigned int next_task_id; |
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| 74 | unsigned int tasks; |
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| 75 | unsigned int proc_id; |
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| 76 | |
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| 77 | proc_id = _procid(); |
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| 78 | curr_task_id = _scheduler[proc_id].current; |
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| 79 | tasks = _scheduler[proc_id].tasks; |
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| 80 | |
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| 81 | // if no more than one task, return |
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| 82 | if ( tasks <= 1 ) return; |
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| 83 | |
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| 84 | /* save _current task context */ |
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| 85 | |
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| 86 | curr_context = &_scheduler[proc_id].context[curr_task_id][0]; |
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| 87 | |
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| 88 | asm volatile( |
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| 89 | "add $27, %0, $0 \n" /* $27<= &context[curr_task_id] */ |
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| 90 | "mfc0 $26, $12 \n" /* $26 <= SR */ |
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| 91 | "sw $26, 0*4($27) \n" /* ctx[0] <= SR */ |
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| 92 | ".set noat \n" |
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| 93 | "sw $1, 1*4($27) \n" /* ctx[1] <= $1 */ |
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| 94 | ".set at \n" |
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| 95 | "sw $2, 2*4($27) \n" /* ctx[2] <= $2 */ |
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| 96 | "sw $3, 3*4($27) \n" /* ctx[3] <= $3 */ |
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| 97 | "sw $4, 4*4($27) \n" /* ctx[4] <= $4 */ |
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| 98 | "sw $5, 5*4($27) \n" /* ctx[5] <= $5 */ |
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| 99 | "sw $6, 6*4($27) \n" /* ctx[6] <= $6 */ |
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| 100 | "sw $7, 7*4($27) \n" /* ctx[7] <= $7 */ |
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| 101 | "sw $8, 8*4($27) \n" /* ctx[8] <= $8 */ |
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| 102 | "sw $9, 9*4($27) \n" /* ctx[9] <= $9 */ |
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| 103 | "sw $10, 10*4($27) \n" /* ctx[10] <= $10 */ |
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| 104 | "sw $11, 11*4($27) \n" /* ctx[11] <= $11 */ |
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| 105 | "sw $12, 12*4($27) \n" /* ctx[12] <= $12 */ |
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| 106 | "sw $13, 13*4($27) \n" /* ctx[13] <= $13 */ |
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| 107 | "sw $14, 14*4($27) \n" /* ctx[14] <= $14 */ |
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| 108 | "sw $15, 15*4($27) \n" /* ctx[15] <= $15 */ |
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| 109 | "sw $16, 16*4($27) \n" /* ctx[16] <= $16 */ |
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| 110 | "sw $17, 17*4($27) \n" /* ctx[17] <= $17 */ |
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| 111 | "sw $18, 18*4($27) \n" /* ctx[18] <= $18 */ |
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| 112 | "sw $19, 19*4($27) \n" /* ctx[19] <= $19 */ |
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| 113 | "sw $20, 20*4($27) \n" /* ctx[20] <= $20 */ |
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| 114 | "sw $21, 21*4($27) \n" /* ctx[21] <= $21 */ |
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| 115 | "sw $22, 22*4($27) \n" /* ctx[22] <= $22 */ |
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| 116 | "sw $23, 23*4($27) \n" /* ctx[23] <= $23 */ |
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| 117 | "sw $24, 24*4($27) \n" /* ctx[24] <= $24 */ |
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| 118 | "sw $25, 25*4($27) \n" /* ctx[25] <= $25 */ |
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| 119 | "mflo $26 \n" |
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| 120 | "sw $26, 26*4($27) \n" /* ctx[26] <= LO */ |
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| 121 | "mfhi $26 \n" |
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| 122 | "sw $26, 27*4($27) \n" /* ctx[27] <= H1 */ |
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| 123 | "sw $28, 28*4($27) \n" /* ctx[28] <= $28 */ |
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| 124 | "sw $29, 29*4($27) \n" /* ctx[29] <= $29 */ |
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| 125 | "sw $30, 30*4($27) \n" /* ctx[30] <= $30 */ |
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| 126 | "sw $31, 31*4($27) \n" /* ctx[31] <= $31 */ |
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| 127 | "mfc0 $26, $14 \n" |
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| 128 | "sw $26, 32*4($27) \n" /* ctx[32] <= EPC */ |
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| 129 | "mfc0 $26, $13 \n" |
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| 130 | "sw $26, 33*4($27) \n" /* ctx[33] <= CR */ |
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| 131 | "mfc2 $26, $0 \n" |
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| 132 | "sw $26, 35*4($27) \n" /* ctx[35] <= PTPR */ |
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| 133 | "mfc2 $26, $1 \n" |
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| 134 | "sw $26, 36*4($27) \n" /* ctx[36] <= MODE */ |
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| 135 | : |
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| 136 | : "r" (curr_context) |
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| 137 | ); |
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| 138 | |
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| 139 | // select next task and update scheduler state |
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| 140 | |
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| 141 | next_task_id = _ctx_select( curr_task_id, proc_id ); |
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| 142 | _scheduler[proc_id].current = next_task_id; |
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| 143 | |
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| 144 | #if GIET_DEBUG_SWITCH |
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| 145 | unsigned int time = _proctime(); |
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| 146 | _tty_puts( "\n[GIET] Context switch for processor "); |
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| 147 | _tty_putw( proc_id ); |
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| 148 | _tty_puts( " at cycle "); |
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| 149 | _tty_putw( time ); |
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| 150 | _tty_puts("\n"); |
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| 151 | _tty_puts( " - tasks = "); |
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| 152 | _tty_putw( tasks ); |
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| 153 | _tty_puts("\n"); |
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| 154 | _tty_puts( " - curr_task_id = "); |
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| 155 | _tty_putw( curr_task_id ); |
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| 156 | _tty_puts("\n"); |
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| 157 | _tty_puts( " - next_task_id = "); |
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| 158 | _tty_putw( next_task_id ); |
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| 159 | _tty_puts("\n"); |
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| 160 | #endif |
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| 161 | |
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| 162 | /* restore next task context */ |
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| 163 | |
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| 164 | next_context = &_scheduler[proc_id].context[next_task_id][0]; |
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| 165 | |
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| 166 | asm volatile( |
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| 167 | "add $27, %0, $0 \n" /* $27<= &context[next] */ |
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| 168 | "lw $26, 35*4($27) \n" |
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| 169 | "mtc2 $26, $0 \n" /* restore PTPR */ |
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| 170 | "lw $26, 36*4($27) \n" |
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| 171 | "mtc2 $26, $1 \n" /* restore MODE */ |
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| 172 | "lw $26, 0*4($27) \n" |
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| 173 | "mtc0 $26, $12 \n" /* restore SR */ |
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| 174 | ".set noat \n" |
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| 175 | "lw $1, 1*4($27) \n" /* restore $1 */ |
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| 176 | ".set at \n" |
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| 177 | "lw $2, 2*4($27) \n" /* restore $2 */ |
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| 178 | "lw $3, 3*4($27) \n" /* restore $3 */ |
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| 179 | "lw $4, 4*4($27) \n" /* restore $4 */ |
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| 180 | "lw $5, 5*4($27) \n" /* restore $5 */ |
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| 181 | "lw $6, 6*4($27) \n" /* restore $6 */ |
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| 182 | "lw $7, 7*4($27) \n" /* restore $7 */ |
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| 183 | "lw $8, 8*4($27) \n" /* restore $8 */ |
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| 184 | "lw $9, 9*4($27) \n" /* restore $9 */ |
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| 185 | "lw $10, 10*4($27) \n" /* restore $10 */ |
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| 186 | "lw $11, 11*4($27) \n" /* restore $11 */ |
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| 187 | "lw $12, 12*4($27) \n" /* restore $12 */ |
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| 188 | "lw $13, 13*4($27) \n" /* restore $13 */ |
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| 189 | "lw $14, 14*4($27) \n" /* restore $14 */ |
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| 190 | "lw $15, 15*4($27) \n" /* restore $15 */ |
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| 191 | "lw $16, 16*4($27) \n" /* restore $16 */ |
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| 192 | "lw $17, 17*4($27) \n" /* restore $17 */ |
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| 193 | "lw $18, 18*4($27) \n" /* restore $18 */ |
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| 194 | "lw $19, 19*4($27) \n" /* restore $19 */ |
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| 195 | "lw $20, 20*4($27) \n" /* restore $20 */ |
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| 196 | "lw $21, 21*4($27) \n" /* restore $21 */ |
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| 197 | "lw $22, 22*4($27) \n" /* restore $22 */ |
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| 198 | "lw $23, 23*4($27) \n" /* restore $23 */ |
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| 199 | "lw $24, 24*4($27) \n" /* restore $24 */ |
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| 200 | "lw $25, 25*4($27) \n" /* restore $25 */ |
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| 201 | "lw $26, 26*4($27) \n" |
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| 202 | "mtlo $26 \n" /* restore LO */ |
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| 203 | "lw $26, 27*4($27) \n" |
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| 204 | "mthi $26 \n" /* restore HI */ |
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| 205 | "lw $28, 28*4($27) \n" /* restore $28 */ |
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| 206 | "lw $29, 29*4($27) \n" /* restore $29 */ |
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| 207 | "lw $30, 30*4($27) \n" /* restore $30 */ |
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| 208 | "lw $31, 31*4($27) \n" /* restore $31 */ |
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| 209 | "lw $26, 32*4($27) \n" |
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| 210 | "mtc0 $26, $14 \n" /* restore EPC */ |
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| 211 | "lw $26, 33*4($27) \n" |
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| 212 | "mtc0 $26, $13 \n" /* restore CR */ |
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| 213 | "eret \n" /* returns to user code */ |
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| 214 | : |
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| 215 | : "r" (next_context) |
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| 216 | ); |
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| 217 | } // end task_switch() |
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| 218 | |
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