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authorrichardbarry <richardbarry@1d2547de-c912-0410-9cb9-b8ca96c0e9e2>2012-08-11 21:34:11 +0000
committerrichardbarry <richardbarry@1d2547de-c912-0410-9cb9-b8ca96c0e9e2>2012-08-11 21:34:11 +0000
commitf279ebee719fa6bda3f91061819e6b42051c7395 (patch)
treec2ef3f908508343c26551949d5f947009cda3291 /FreeRTOS/Source/portable/GCC/NiosII
parent24ce9d9c87e6b7b23f0915e1a91fb4a5bd2f7c3d (diff)
downloadfreertos-f279ebee719fa6bda3f91061819e6b42051c7395.tar.gz
Add FreeRTOS-Plus directory.
git-svn-id: http://svn.code.sf.net/p/freertos/code/trunk@1765 1d2547de-c912-0410-9cb9-b8ca96c0e9e2
Diffstat (limited to 'FreeRTOS/Source/portable/GCC/NiosII')
-rw-r--r--FreeRTOS/Source/portable/GCC/NiosII/port.c244
-rw-r--r--FreeRTOS/Source/portable/GCC/NiosII/port_asm.S188
-rw-r--r--FreeRTOS/Source/portable/GCC/NiosII/portmacro.h140
3 files changed, 572 insertions, 0 deletions
diff --git a/FreeRTOS/Source/portable/GCC/NiosII/port.c b/FreeRTOS/Source/portable/GCC/NiosII/port.c
new file mode 100644
index 000000000..84adb7852
--- /dev/null
+++ b/FreeRTOS/Source/portable/GCC/NiosII/port.c
@@ -0,0 +1,244 @@
+/*
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+ ***************************************************************************
+ * *
+ * FreeRTOS tutorial books are available in pdf and paperback. *
+ * Complete, revised, and edited pdf reference manuals are also *
+ * available. *
+ * *
+ * Purchasing FreeRTOS documentation will not only help you, by *
+ * ensuring you get running as quickly as possible and with an *
+ * in-depth knowledge of how to use FreeRTOS, it will also help *
+ * the FreeRTOS project to continue with its mission of providing *
+ * professional grade, cross platform, de facto standard solutions *
+ * for microcontrollers - completely free of charge! *
+ * *
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+ * *
+ * Thank you for using FreeRTOS, and thank you for your support! *
+ * *
+ ***************************************************************************
+
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ >>>NOTE<<< The modification to the GPL is included to allow you to
+ distribute a combined work that includes FreeRTOS without being obliged to
+ provide the source code for proprietary components outside of the FreeRTOS
+ kernel. FreeRTOS 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 and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ ***************************************************************************
+ * *
+ * Having a problem? Start by reading the FAQ "My application does *
+ * not run, what could be wrong? *
+ * *
+ * http://www.FreeRTOS.org/FAQHelp.html *
+ * *
+ ***************************************************************************
+
+
+ http://www.FreeRTOS.org - Documentation, training, latest information,
+ license and contact details.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool.
+
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+ provide a safety engineered and independently SIL3 certified version under
+ the SafeRTOS brand: http://www.SafeRTOS.com.
+*/
+
+/*-----------------------------------------------------------
+ * Implementation of functions defined in portable.h for the NIOS2 port.
+ *----------------------------------------------------------*/
+
+/* Standard Includes. */
+#include <string.h>
+#include <errno.h>
+
+/* Altera includes. */
+#include "sys/alt_irq.h"
+#include "altera_avalon_timer_regs.h"
+#include "priv/alt_irq_table.h"
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Interrupts are enabled. */
+#define portINITIAL_ESTATUS ( portSTACK_TYPE ) 0x01
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the timer to generate the tick interrupts.
+ */
+static void prvSetupTimerInterrupt( void );
+
+/*
+ * Call back for the alarm function.
+ */
+void vPortSysTickHandler( void * context, alt_u32 id );
+
+/*-----------------------------------------------------------*/
+
+void prvReadGp( unsigned long *ulValue )
+{
+ asm( "stw gp, (r4) " );
+};
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
+{
+portSTACK_TYPE *pxFramePointer = pxTopOfStack - 1;
+portSTACK_TYPE xGlobalPointer;
+
+ prvReadGp( &xGlobalPointer );
+
+ /* End of stack marker. */
+ *pxTopOfStack = 0xdeadbeef;
+ pxTopOfStack--;
+
+ *pxTopOfStack = ( portSTACK_TYPE ) pxFramePointer;
+ pxTopOfStack--;
+
+ *pxTopOfStack = xGlobalPointer;
+
+ /* Space for R23 to R16. */
+ pxTopOfStack -= 9;
+
+ *pxTopOfStack = ( portSTACK_TYPE ) pxCode;
+ pxTopOfStack--;
+
+ *pxTopOfStack = portINITIAL_ESTATUS;
+
+ /* Space for R15 to R5. */
+ pxTopOfStack -= 12;
+
+ *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;
+
+ /* Space for R3 to R1, muldiv and RA. */
+ pxTopOfStack -= 5;
+
+ return pxTopOfStack;
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * See header file for description.
+ */
+portBASE_TYPE xPortStartScheduler( void )
+{
+ /* Start the timer that generates the tick ISR. Interrupts are disabled
+ here already. */
+ prvSetupTimerInterrupt();
+
+ /* Start the first task. */
+ asm volatile ( " movia r2, restore_sp_from_pxCurrentTCB \n"
+ " jmp r2 " );
+
+ /* Should not get here! */
+ return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vPortEndScheduler( void )
+{
+ /* It is unlikely that the NIOS2 port will require this function as there
+ is nothing to return to. */
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Setup the systick timer to generate the tick interrupts at the required
+ * frequency.
+ */
+void prvSetupTimerInterrupt( void )
+{
+ /* Try to register the interrupt handler. */
+ if ( -EINVAL == alt_irq_register( SYS_CLK_IRQ, 0x0, vPortSysTickHandler ) )
+ {
+ /* Failed to install the Interrupt Handler. */
+ asm( "break" );
+ }
+ else
+ {
+ /* Configure SysTick to interrupt at the requested rate. */
+ IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_STOP_MSK );
+ IOWR_ALTERA_AVALON_TIMER_PERIODL( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) & 0xFFFF );
+ IOWR_ALTERA_AVALON_TIMER_PERIODH( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) >> 16 );
+ IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_CONT_MSK | ALTERA_AVALON_TIMER_CONTROL_START_MSK | ALTERA_AVALON_TIMER_CONTROL_ITO_MSK );
+ }
+
+ /* Clear any already pending interrupts generated by the Timer. */
+ IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );
+}
+/*-----------------------------------------------------------*/
+
+void vPortSysTickHandler( void * context, alt_u32 id )
+{
+ /* Increment the Kernel Tick. */
+ vTaskIncrementTick();
+
+ /* If using preemption, also force a context switch. */
+ #if configUSE_PREEMPTION == 1
+ vTaskSwitchContext();
+ #endif
+
+ /* Clear the interrupt. */
+ IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );
+}
+/*-----------------------------------------------------------*/
+
+/** This function is a re-implementation of the Altera provided function.
+ * The function is re-implemented to prevent it from enabling an interrupt
+ * when it is registered. Interrupts should only be enabled after the FreeRTOS.org
+ * kernel has its scheduler started so that contexts are saved and switched
+ * correctly.
+ */
+int alt_irq_register( alt_u32 id, void* context, void (*handler)(void*, alt_u32) )
+{
+ int rc = -EINVAL;
+ alt_irq_context status;
+
+ if (id < ALT_NIRQ)
+ {
+ /*
+ * interrupts are disabled while the handler tables are updated to ensure
+ * that an interrupt doesn't occur while the tables are in an inconsistent
+ * state.
+ */
+
+ status = alt_irq_disable_all ();
+
+ alt_irq[id].handler = handler;
+ alt_irq[id].context = context;
+
+ rc = (handler) ? alt_irq_enable (id): alt_irq_disable (id);
+
+ /* alt_irq_enable_all(status); This line is removed to prevent the interrupt from being immediately enabled. */
+ }
+
+ return rc;
+}
+/*-----------------------------------------------------------*/
+
diff --git a/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S b/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S
new file mode 100644
index 000000000..6ca12da3b
--- /dev/null
+++ b/FreeRTOS/Source/portable/GCC/NiosII/port_asm.S
@@ -0,0 +1,188 @@
+/*
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+ ***************************************************************************
+ * *
+ * FreeRTOS tutorial books are available in pdf and paperback. *
+ * Complete, revised, and edited pdf reference manuals are also *
+ * available. *
+ * *
+ * Purchasing FreeRTOS documentation will not only help you, by *
+ * ensuring you get running as quickly as possible and with an *
+ * in-depth knowledge of how to use FreeRTOS, it will also help *
+ * the FreeRTOS project to continue with its mission of providing *
+ * professional grade, cross platform, de facto standard solutions *
+ * for microcontrollers - completely free of charge! *
+ * *
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+ * *
+ * Thank you for using FreeRTOS, and thank you for your support! *
+ * *
+ ***************************************************************************
+
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ >>>NOTE<<< The modification to the GPL is included to allow you to
+ distribute a combined work that includes FreeRTOS without being obliged to
+ provide the source code for proprietary components outside of the FreeRTOS
+ kernel. FreeRTOS 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 and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ ***************************************************************************
+ * *
+ * Having a problem? Start by reading the FAQ "My application does *
+ * not run, what could be wrong? *
+ * *
+ * http://www.FreeRTOS.org/FAQHelp.html *
+ * *
+ ***************************************************************************
+
+
+ http://www.FreeRTOS.org - Documentation, training, latest information,
+ license and contact details.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool.
+
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+ provide a safety engineered and independently SIL3 certified version under
+ the SafeRTOS brand: http://www.SafeRTOS.com.
+*/
+
+.extern vTaskSwitchContext
+
+.set noat
+
+# Exported to start the first task.
+.globl restore_sp_from_pxCurrentTCB
+
+# Entry point for exceptions.
+.section .exceptions.entry, "xa"
+
+# Save the entire context of a task.
+save_context:
+ addi ea, ea, -4 # Point to the next instruction.
+ addi sp, sp, -116 # Create space on the stack.
+ stw ra, 0(sp)
+ # Leave a gap for muldiv 0
+ stw at, 8(sp)
+ stw r2, 12(sp)
+ stw r3, 16(sp)
+ stw r4, 20(sp)
+ stw r5, 24(sp)
+ stw r6, 28(sp)
+ stw r7, 32(sp)
+ stw r8, 36(sp)
+ stw r9, 40(sp)
+ stw r10, 44(sp)
+ stw r11, 48(sp)
+ stw r12, 52(sp)
+ stw r13, 56(sp)
+ stw r14, 60(sp)
+ stw r15, 64(sp)
+ rdctl r5, estatus # Save the eStatus
+ stw r5, 68(sp)
+ stw ea, 72(sp) # Save the PC
+ stw r16, 76(sp) # Save the remaining registers
+ stw r17, 80(sp)
+ stw r18, 84(sp)
+ stw r19, 88(sp)
+ stw r20, 92(sp)
+ stw r21, 96(sp)
+ stw r22, 100(sp)
+ stw r23, 104(sp)
+ stw gp, 108(sp)
+ stw fp, 112(sp)
+
+save_sp_to_pxCurrentTCB:
+ movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer
+ ldw et, (et) # Load the value of the pxCurrentTCB pointer
+ stw sp, (et) # Store the stack pointer into the top of the TCB
+
+ .section .exceptions.irqtest, "xa"
+hw_irq_test:
+ /*
+ * Test to see if the exception was a software exception or caused
+ * by an external interrupt, and vector accordingly.
+ */
+ rdctl r4, ipending # Load the Pending Interrupts indication
+ rdctl r5, estatus # Load the eStatus (enabled interrupts).
+ andi r2, r5, 1 # Are interrupts enabled globally.
+ beq r2, zero, soft_exceptions # Interrupts are not enabled.
+ beq r4, zero, soft_exceptions # There are no interrupts triggered.
+
+ .section .exceptions.irqhandler, "xa"
+hw_irq_handler:
+ call alt_irq_handler # Call the alt_irq_handler to deliver to the registered interrupt handler.
+
+ .section .exceptions.irqreturn, "xa"
+restore_sp_from_pxCurrentTCB:
+ movia et, pxCurrentTCB # Load the address of the pxCurrentTCB pointer
+ ldw et, (et) # Load the value of the pxCurrentTCB pointer
+ ldw sp, (et) # Load the stack pointer with the top value of the TCB
+
+restore_context:
+ ldw ra, 0(sp) # Restore the registers.
+ # Leave a gap for muldiv 0.
+ ldw at, 8(sp)
+ ldw r2, 12(sp)
+ ldw r3, 16(sp)
+ ldw r4, 20(sp)
+ ldw r5, 24(sp)
+ ldw r6, 28(sp)
+ ldw r7, 32(sp)
+ ldw r8, 36(sp)
+ ldw r9, 40(sp)
+ ldw r10, 44(sp)
+ ldw r11, 48(sp)
+ ldw r12, 52(sp)
+ ldw r13, 56(sp)
+ ldw r14, 60(sp)
+ ldw r15, 64(sp)
+ ldw et, 68(sp) # Load the eStatus
+ wrctl estatus, et # Write the eStatus
+ ldw ea, 72(sp) # Load the Program Counter
+ ldw r16, 76(sp)
+ ldw r17, 80(sp)
+ ldw r18, 84(sp)
+ ldw r19, 88(sp)
+ ldw r20, 92(sp)
+ ldw r21, 96(sp)
+ ldw r22, 100(sp)
+ ldw r23, 104(sp)
+ ldw gp, 108(sp)
+ ldw fp, 112(sp)
+ addi sp, sp, 116 # Release stack space
+
+ eret # Return to address ea, loading eStatus into Status.
+
+ .section .exceptions.soft, "xa"
+soft_exceptions:
+ ldw et, 0(ea) # Load the instruction where the interrupt occured.
+ movhi at, %hi(0x003B683A) # Load the registers with the trap instruction code
+ ori at, at, %lo(0x003B683A)
+ cmpne et, et, at # Compare the trap instruction code to the last excuted instruction
+ beq et, r0, call_scheduler # its a trap so switchcontext
+ break # This is an un-implemented instruction or muldiv problem.
+ br restore_context # its something else
+
+call_scheduler:
+ addi ea, ea, 4 # A trap was called, increment the program counter so it is not called again.
+ stw ea, 72(sp) # Save the new program counter to the context.
+ call vTaskSwitchContext # Pick the next context.
+ br restore_sp_from_pxCurrentTCB # Switch in the task context and restore.
diff --git a/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h b/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h
new file mode 100644
index 000000000..b14b2186a
--- /dev/null
+++ b/FreeRTOS/Source/portable/GCC/NiosII/portmacro.h
@@ -0,0 +1,140 @@
+/*
+ FreeRTOS V7.1.1 - Copyright (C) 2012 Real Time Engineers Ltd.
+
+
+ ***************************************************************************
+ * *
+ * FreeRTOS tutorial books are available in pdf and paperback. *
+ * Complete, revised, and edited pdf reference manuals are also *
+ * available. *
+ * *
+ * Purchasing FreeRTOS documentation will not only help you, by *
+ * ensuring you get running as quickly as possible and with an *
+ * in-depth knowledge of how to use FreeRTOS, it will also help *
+ * the FreeRTOS project to continue with its mission of providing *
+ * professional grade, cross platform, de facto standard solutions *
+ * for microcontrollers - completely free of charge! *
+ * *
+ * >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
+ * *
+ * Thank you for using FreeRTOS, and thank you for your support! *
+ * *
+ ***************************************************************************
+
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ >>>NOTE<<< The modification to the GPL is included to allow you to
+ distribute a combined work that includes FreeRTOS without being obliged to
+ provide the source code for proprietary components outside of the FreeRTOS
+ kernel. FreeRTOS 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 and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ ***************************************************************************
+ * *
+ * Having a problem? Start by reading the FAQ "My application does *
+ * not run, what could be wrong? *
+ * *
+ * http://www.FreeRTOS.org/FAQHelp.html *
+ * *
+ ***************************************************************************
+
+
+ http://www.FreeRTOS.org - Documentation, training, latest information,
+ license and contact details.
+
+ http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+ including FreeRTOS+Trace - an indispensable productivity tool.
+
+ Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
+ the code with commercial support, indemnification, and middleware, under
+ the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also
+ provide a safety engineered and independently SIL3 certified version under
+ the SafeRTOS brand: http://www.SafeRTOS.com.
+*/
+
+#ifndef PORTMACRO_H
+#define PORTMACRO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "sys/alt_irq.h"
+
+/*-----------------------------------------------------------
+ * 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 unsigned portLONG
+#define portBASE_TYPE long
+
+#if( configUSE_16_BIT_TICKS == 1 )
+ typedef unsigned portSHORT portTickType;
+ #define portMAX_DELAY ( portTickType ) 0xffff
+#else
+ typedef unsigned portLONG portTickType;
+ #define portMAX_DELAY ( portTickType ) 0xffffffff
+#endif
+/*-----------------------------------------------------------*/
+
+/* Architecture specifics. */
+#define portSTACK_GROWTH ( -1 )
+#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ )
+#define portBYTE_ALIGNMENT 4
+#define portNOP() asm volatile ( "NOP" )
+#define portCRITICAL_NESTING_IN_TCB 1
+/*-----------------------------------------------------------*/
+
+extern void vTaskSwitchContext( void );
+#define portYIELD() asm volatile ( "trap" );
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vTaskSwitchContext()
+
+
+/* Include the port_asm.S file where the Context saving/restoring is defined. */
+__asm__( "\n\t.globl save_context" );
+
+/*-----------------------------------------------------------*/
+
+extern void vTaskEnterCritical( void );
+extern void vTaskExitCritical( void );
+
+#define portDISABLE_INTERRUPTS() alt_irq_disable_all()
+#define portENABLE_INTERRUPTS() alt_irq_enable_all( 0x01 );
+#define portENTER_CRITICAL() vTaskEnterCritical()
+#define portEXIT_CRITICAL() vTaskExitCritical()
+/*-----------------------------------------------------------*/
+
+/* Task function macros as described on the FreeRTOS.org WEB site. */
+#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
+#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* PORTMACRO_H */
+