git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1892 35acf78f-673a-0410-8e92-d51de3d6d3f4

7 files changed, 130 insertions, 67 deletions

diff --git a/docs/src/interrupts.dox b/docs/src/interrupts.dox
index 64f336f08..bceea96c4 100644
--- a/docs/src/interrupts.dox
+++ b/docs/src/interrupts.dox
@@ -21,8 +21,11 @@
  * @page article_interrupts How to write interrupt handlers

  * Since version 1.1.0 ChibiOS/RT offers a cross-platform method for writing

  * interrupt handlers. Port-related and compiler-related details are

- * encapsulated within standard system macros.<br>

- * An interrupt handler assumes the following general form:

+ * encapsulated within standard system macros.

+ *

+ * <h2>Writing Regular Interrupt handlers</h2>

+ * A Regular Interrupts handler (see @ref interrupt_classes) must be written

+ * using the following general form:

  * @code

 CH_IRQ_HANDLER(myIRQ) {

   CH_IRQ_PROLOGUE();

@@ -38,15 +41,29 @@ CH_IRQ_HANDLER(myIRQ) {
   CH_IRQ_EPILOGUE();

 }

  * @endcode

- * Note that only interrupt handlers that have to invoke system @ref I-Class

- * APIs must be written in this form, handlers unrelated to the OS activity can

- * omit the macros.

- * Another note about the handler name "myIRQ", in some ports it must be a

+ *

+ * <h2>Writing Fast Interrupt handlers</h2>

+ * In those architectures (@ref ARM7 and @ref ARMCMx) supporting Fast

+ * Interrupts (see @ref interrupt_classes) handlers must be written

+ * using the following general form:

+ * @code

+CH_FAST_IRQ_HANDLER(myIRQ) {

+

+  // Fast IRQ handling code, preemptable if the architecture supports it.

+  // The invocation of any API is forbidden here because fast interrupt

+  // handlers can preempt the kernel even within its critical zones in

+  // order to minimize latency.

+}

+ * @endcode

+ *

+ * <h2>Handlers naming</h2>

+ * A note about the handler name "myIRQ", in some ports it must be a

  * vector number rather than a function name, it could also be a name from

  * within a predefined set, see the notes about the various ports.

+ *

  * <h2>Important Notes</h2>

  * - There is an important application note about ARM7 interrupt handlers,

  *   please read about it in the ARM7 port section: @ref ARM7_IH

  * .

  */

- 

+ 
\ No newline at end of file
diff --git a/os/kernel/include/chsys.h b/os/kernel/include/chsys.h
index 5c773136f..5759d0cca 100644
--- a/os/kernel/include/chsys.h
+++ b/os/kernel/include/chsys.h
@@ -154,12 +154,20 @@
 #define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()

 

 /**

- * @brief   Standard IRQ handler declaration.

+ * @brief   Standard normal IRQ handler declaration.

  * @note    @p id can be a function name or a vector number depending on the

  *          port implementation.

  */

 #define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)

 

+/**

+ * @brief   Standard fast IRQ handler declaration.

+ * @note    @p id can be a function name or a vector number depending on the

+ *          port implementation.

+ * @note    Not all architectures support fast interrupts.

+ */

+#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)

+

 #ifdef __cplusplus

 extern "C" {

 #endif

diff --git a/os/kernel/templates/chcore.h b/os/kernel/templates/chcore.h
index c91d45b27..bd5d824b6 100644
--- a/os/kernel/templates/chcore.h
+++ b/os/kernel/templates/chcore.h
@@ -146,6 +146,15 @@ struct context {
  */

 #define PORT_IRQ_HANDLER(id) void id(void)

 

+/**

+ * @brief   Fast IRQ handler function declaration.

+ * @note    @p id can be a function name or a vector number depending on the

+ *          port implementation.

+ * @note    Not all architectures support fast interrupts, in this case this

+ *          macro must be omitted.

+ */

+#define PORT_FAST_IRQ_HANDLER(id) void id(void)

+

 #ifdef __cplusplus

 extern "C" {

 #endif

diff --git a/os/ports/GCC/ARM7/chcore.h b/os/ports/GCC/ARM7/chcore.h
index a6cc59d56..89391b352 100644
--- a/os/ports/GCC/ARM7/chcore.h
+++ b/os/ports/GCC/ARM7/chcore.h
@@ -117,13 +117,13 @@ struct context {
  * @details This code usually setup the context switching frame represented

  *          by an @p intctx structure.

  */

-#define SETUP_CONTEXT(workspace, wsize, pf, arg) {                      \

-  tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace +              \

-                                     wsize -                            \

-                                     sizeof(struct intctx));            \

-  tp->p_ctx.r13->r4 = pf;                                               \

-  tp->p_ctx.r13->r5 = arg;                                              \

-  tp->p_ctx.r13->lr = _port_thread_start;                               \

+#define SETUP_CONTEXT(workspace, wsize, pf, arg) {                          \

+  tp->p_ctx.r13 = (struct intctx *)((uint8_t *)workspace +                  \

+                                     wsize -                                \

+                                     sizeof(struct intctx));                \

+  tp->p_ctx.r13->r4 = pf;                                                   \

+  tp->p_ctx.r13->r5 = arg;                                                  \

+  tp->p_ctx.r13->lr = _port_thread_start;                                   \

 }

 

 /**

@@ -160,9 +160,9 @@ struct context {
 /**

  * @brief   Computes the thread working area global size.

  */

-#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) +                     \

-                                   sizeof(struct intctx) +              \

-                                   sizeof(struct extctx) +              \

+#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) +                         \

+                                   sizeof(struct intctx) +                  \

+                                   sizeof(struct extctx) +                  \

                                   (n) + (INT_REQUIRED_STACK))

 

 /**

@@ -184,16 +184,16 @@ struct context {
  *          it is transparent to the user code.

  */

 #ifdef THUMB

-#define PORT_IRQ_PROLOGUE() {                                           \

-  asm volatile (".code 32                               \n\t"           \

-                "stmfd   sp!, {r0-r3, r12, lr}          \n\t"           \

-                "add     r0, pc, #1                     \n\t"           \

-                "bx      r0                             \n\t"           \

-                ".code 16");                                            \

+#define PORT_IRQ_PROLOGUE() {                                               \

+  asm volatile (".code 32                               \n\t"               \

+                "stmfd   sp!, {r0-r3, r12, lr}          \n\t"               \

+                "add     r0, pc, #1                     \n\t"               \

+                "bx      r0                             \n\t"               \

+                ".code 16");                                                \

 }

 #else /* !THUMB */

-#define PORT_IRQ_PROLOGUE() {                                           \

-  asm volatile ("stmfd    sp!, {r0-r3, r12, lr}");                      \

+#define PORT_IRQ_PROLOGUE() {                                               \

+  asm volatile ("stmfd    sp!, {r0-r3, r12, lr}");                          \

 }

 #endif /* !THUMB */

 

@@ -205,13 +205,13 @@ struct context {
  *          ARM or THUMB mode.

  */

 #ifdef THUMB

-#define PORT_IRQ_EPILOGUE() {                                           \

-  asm volatile ("ldr     r0, =_port_irq_common          \n\t"           \

-                "bx      r0");                                          \

+#define PORT_IRQ_EPILOGUE() {                                               \

+  asm volatile ("ldr     r0, =_port_irq_common          \n\t"               \

+                "bx      r0");                                              \

 }

 #else /* !THUMB */

-#define PORT_IRQ_EPILOGUE() {                                           \

-  asm volatile ("b       _port_irq_common");                            \

+#define PORT_IRQ_EPILOGUE() {                                               \

+  asm volatile ("b       _port_irq_common");                                \

 }

 #endif /* !THUMB */

 

@@ -223,6 +223,14 @@ struct context {
 #define PORT_IRQ_HANDLER(id) __attribute__((naked)) void id(void)

 

 /**

+ * @brief   Fast IRQ handler function declaration.

+ * @note    @p id can be a function name or a vector number depending on the

+ *          port implementation.

+ */

+#define PORT_FAST_IRQ_HANDLER(id)                                           \

+  __attribute__((interrupt("FIQ"))) void id(void)

+

+/**

  * @brief   Port-related initialization code.

  * @note    This function is empty in this port.

  */

@@ -236,8 +244,8 @@ struct context {
  *          enabled.

  */

 #ifdef THUMB

-#define port_lock() {                                                   \

-  asm volatile ("bl     _port_lock_thumb" : : : "r3", "lr");            \

+#define port_lock() {                                                       \

+  asm volatile ("bl     _port_lock_thumb" : : : "r3", "lr");                \

 }

 #else /* !THUMB */

 #define port_lock() asm volatile ("msr     CPSR_c, #0x9F")

@@ -250,8 +258,8 @@ struct context {
  * @note    In this port it enables both the IRQ and FIQ sources.

  */

 #ifdef THUMB

-#define port_unlock() {                                                 \

-  asm volatile ("bl     _port_unlock_thumb" : : : "r3", "lr");          \

+#define port_unlock() {                                                     \

+  asm volatile ("bl     _port_unlock_thumb" : : : "r3", "lr");              \

 }

 #else /* !THUMB */

 #define port_unlock() asm volatile ("msr     CPSR_c, #0x1F")

@@ -283,16 +291,16 @@ struct context {
  *          LPC214x datasheet.

  */

 #ifdef THUMB

-#define port_disable() {                                                \

-  asm volatile ("bl     _port_disable_thumb" : : : "r3", "lr");         \

+#define port_disable() {                                                    \

+  asm volatile ("bl     _port_disable_thumb" : : : "r3", "lr");             \

 }

 #else /* !THUMB */

-#define port_disable() {                                                \

-  asm volatile ("mrs     r3, CPSR                       \n\t"           \

-                "orr     r3, #0x80                      \n\t"           \

-                "msr     CPSR_c, r3                     \n\t"           \

-                "orr     r3, #0x40                      \n\t"           \

-                "msr     CPSR_c, r3" : : : "r3");                       \

+#define port_disable() {                                                    \

+  asm volatile ("mrs     r3, CPSR                       \n\t"               \

+                "orr     r3, #0x80                      \n\t"               \

+                "msr     CPSR_c, r3                     \n\t"               \

+                "orr     r3, #0x40                      \n\t"               \

+                "msr     CPSR_c, r3" : : : "r3");                           \

 }

 #endif /* !THUMB */

 

@@ -303,8 +311,8 @@ struct context {
  *          FIQ sources.

  */

 #ifdef THUMB

-#define port_suspend() {                                                \

-  asm volatile ("bl     _port_suspend_thumb" : : : "r3", "lr");         \

+#define port_suspend() {                                                    \

+  asm volatile ("bl     _port_suspend_thumb" : : : "r3", "lr");             \

 }

 #else /* !THUMB */

 #define port_suspend() asm volatile ("msr     CPSR_c, #0x9F")

@@ -315,8 +323,8 @@ struct context {
  * @note    In this port it enables both the IRQ and FIQ sources.

  */

 #ifdef THUMB

-#define port_enable() {                                                 \

-  asm volatile ("bl     _port_enable_thumb" : : : "r3", "lr");          \

+#define port_enable() {                                                     \

+  asm volatile ("bl     _port_enable_thumb" : : : "r3", "lr");              \

 }

 #else /* !THUMB */

 #define port_enable() asm volatile ("msr     CPSR_c, #0x1F")

@@ -335,29 +343,29 @@ struct context {
  */

 #ifdef THUMB

 #if CH_DBG_ENABLE_STACK_CHECK

-#define port_switch(ntp, otp) {                                         \

-  register Thread *_ntp asm ("r0") = (ntp);                             \

-  register Thread *_otp asm ("r1") = (otp);                             \

-  register char *sp asm ("sp");                                         \

-  if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp)       \

-    asm volatile ("mov     r0, #0                               \n\t"   \

-                  "ldr     r1, =chDbgPanic                      \n\t"   \

-                  "bx      r1");                                        \

-    _port_switch_thumb(_ntp, _otp);                                     \

+#define port_switch(ntp, otp) {                                             \

+  register Thread *_ntp asm ("r0") = (ntp);                                 \

+  register Thread *_otp asm ("r1") = (otp);                                 \

+  register char *sp asm ("sp");                                             \

+  if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp)           \

+    asm volatile ("mov     r0, #0                               \n\t"       \

+                  "ldr     r1, =chDbgPanic                      \n\t"       \

+                  "bx      r1");                                            \

+    _port_switch_thumb(_ntp, _otp);                                         \

 }

 #else /* !CH_DBG_ENABLE_STACK_CHECK */

 #define port_switch(ntp, otp) _port_switch_thumb(ntp, otp)

 #endif /* !CH_DBG_ENABLE_STACK_CHECK */

 #else /* !THUMB */

 #if CH_DBG_ENABLE_STACK_CHECK

-#define port_switch(ntp, otp) {                                         \

-  register Thread *_ntp asm ("r0") = (ntp);                             \

-  register Thread *_otp asm ("r1") = (otp);                             \

-  register char *sp asm ("sp");                                         \

-  if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp)       \

-    asm volatile ("mov     r0, #0                               \n\t"   \

-                  "b       chDbgPanic");                                \

-  _port_switch_arm(_ntp, _otp);                                         \

+#define port_switch(ntp, otp) {                                             \

+  register Thread *_ntp asm ("r0") = (ntp);                                 \

+  register Thread *_otp asm ("r1") = (otp);                                 \

+  register char *sp asm ("sp");                                             \

+  if (sp - sizeof(struct intctx) - sizeof(Thread) < (char *)_otp)           \

+    asm volatile ("mov     r0, #0                               \n\t"       \

+                  "b       chDbgPanic");                                    \

+  _port_switch_arm(_ntp, _otp);                                             \

 }

 #else /* !CH_DBG_ENABLE_STACK_CHECK */

 #define port_switch(ntp, otp) _port_switch_arm(ntp, otp)

diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.h b/os/ports/GCC/ARMCMx/chcore_v6m.h
index 99e9c3138..b76aa075a 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.h
@@ -157,7 +157,16 @@ struct intctx {
  * @note    @p id can be a function name or a vector number depending on the

  *          port implementation.

  */

-#define PORT_IRQ_HANDLER(id) void id(void)

+#define PORT_IRQ_HANDLER(id)                                                \

+  __attribute__((interrupt("IRQ"))) void id(void)

+

+/**

+ * @brief   Fast IRQ handler function declaration.

+ * @note    @p id can be a function name or a vector number depending on the

+ *          port implementation.

+ */

+#define PORT_FAST_IRQ_HANDLER(id)                                           \

+  __attribute__((interrupt("IRQ"))) void id(void)

 

 /**

  * @brief   Port-related initialization code.

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h
index 5323cee73..4f1e88a48 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.h
@@ -130,7 +130,16 @@ struct intctx {
  * @note    @p id can be a function name or a vector number depending on the

  *          port implementation.

  */

-#define PORT_IRQ_HANDLER(id) void id(void)

+#define PORT_IRQ_HANDLER(id)                                                \

+  __attribute__((interrupt("IRQ"))) void id(void)

+

+/**

+ * @brief   Fast IRQ handler function declaration.

+ * @note    @p id can be a function name or a vector number depending on the

+ *          port implementation.

+ */

+#define PORT_FAST_IRQ_HANDLER(id)                                           \

+  __attribute__((interrupt("IRQ"))) void id(void)

 

 /**

  * @brief   Port-related initialization code.

diff --git a/readme.txt b/readme.txt
index 71ec4a2cf..4fc9892c3 100644
--- a/readme.txt
+++ b/readme.txt
@@ -67,13 +67,16 @@
   constants in different address spaces (AVR) because it is assumed that a

   pointer to a ROMCONST variable is compatible with a normal pointer.

 - NEW: AT91SAM7 HAL support for the DGBU UART peripheral, as SD3.

+- NEW: Introduced a new macro CH_FAST_IRQ_HANDLER() for the declaration of

+  fast interrupt handlers on those architectures that support them.

 - OPT: Internal optimization in the serial driver, it now is a bit smaller

   and uses less RAM (all architectures).

 - CHANGE: Modified the STM32 FatFs demo, now it spawns a command shell or

   the serial port SD2, type "help" for the available commands. More commands

   can be easily added.

 - Various documentation fixes, added an article covering debugging under

-  ChibiOS/RT.

+  ChibiOS/RT, updated the article about interrupt handlers to cover also

+  fast interrupt sources.

 

 *** 1.5.5 ***

 - FIX: Removed some "dead" code in the old ARMv7-M files (there are new