git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@634 35acf78f-673a-0410-8e92-d51de3d6d3f4

12 files changed, 215 insertions, 91 deletions

diff --git a/demos/ARMCM3-STM32F103-GCC/board.c b/demos/ARMCM3-STM32F103-GCC/board.c
index 7bfa42133..6a13c126b 100644
--- a/demos/ARMCM3-STM32F103-GCC/board.c
+++ b/demos/ARMCM3-STM32F103-GCC/board.c
@@ -90,12 +90,13 @@ void hwinit1(void) {
    * NVIC/SCB initialization.

    */

   SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(0x3); // PRIGROUP 4:0 (4:4).

-  SCB_SHPR(2) = 0xF0 << 16;     // PendSV at lowest priority.

+  NVICSetSystemHandlerPriority(HANDLER_SVCALL, PRIORITY_SVCALL);

+  NVICSetSystemHandlerPriority(HANDLER_SYSTICK, PRIORITY_SYSTICK);

+  NVICSetSystemHandlerPriority(HANDLER_PENDSV, PRIORITY_PENDSV);

 

   /*

    * SysTick initialization.

    */

-  SCB_SHPR(2) |= 0x40 << 24;    // SysTick at priority 4:0.

   ST_RVR = SYSCLK / (8000000 / CH_FREQUENCY) - 1;

   ST_CVR = 0;

   ST_CSR = ENABLE_ON_BITS | TICKINT_ENABLED_BITS | CLKSOURCE_EXT_BITS;

@@ -103,7 +104,7 @@ void hwinit1(void) {
   /*

    * Other subsystems initialization.

    */

-  InitSerial(0x80, 0x80, 0x80);

+  InitSerial(0xC0, 0xC0, 0xC0);

 

   /*

    * ChibiOS/RT initialization.

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 430f4aa8f..582fcc532 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -84,7 +84,7 @@ WARN_LOGFILE =
 #---------------------------------------------------------------------------
 # configuration options related to the input files
 #---------------------------------------------------------------------------
-INPUT = ../src/include ../src/templates ../src ../docs/ch.txt ../src/lib ../ports/ARM7 
+INPUT = ../src/include ../src/templates ../src ../docs/ch.txt ../src/lib ../ports/ARM7 ../ports/ARMCM3 
 INPUT_ENCODING = UTF-8
 FILE_PATTERNS = *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py *.ddf
 RECURSIVE = YES
diff --git a/docs/ch.txt b/docs/ch.txt
index 82789c4b7..fc475ec95 100644
--- a/docs/ch.txt
+++ b/docs/ch.txt
@@ -77,7 +77,7 @@
  * state unless differently specified.<br>

  * Examples: @p chThdCreateStatic(), @p chSemSignalI(), @p chIQGetTimeout().

  *

- * @section interrupts Interrupt Classes

+ * @section interrupt_classes Interrupt Classes

  * In ChibiOS/RT there are three logical interrupt classes:

  * - <b>Regular Interrupts</b>. Maskable interrupt sources that cannot

  *   preempt the kernel code and are thus able to invoke operating system APIs

@@ -281,68 +281,6 @@
 /** @} */

 

 /**

- * @defgroup ARMCM3 ARM Cortex-M3

- * @{

- * <p>

- * The ARM Cortex-M3 port is organized as follow:

- * </p>

- * <ul>

- * <li>The @p main() function is invoked in thread-privileged mode.</li>

- * <li>Each thread has a private process stack, the system has a single main

- *     stack where all the interrupts and exceptions are processed.</li>

- * <li>Only the 4 MSb of the priority level are used, the 4 LSb are assumed

- *     to be zero.</li>

- * <li>The threads are started in thread-privileged mode with BASEPRI level

- *     0x00 (disabled).</li>

- * <li>The kernel raises its BASEPRI level to 0x10 in order to protect the

- *     system mutex zones. Note that exceptions with level 0x00 can preempt

- *     the kernel, such exception handlers cannot invoke kernel APIs directly.

- *     It is possible to modify the priority levels by editing the

- *     <b>./ports/ARMCM3/chcore.h</b> file.</li>

- * <li>Interrupt nesting and the other advanced NVIC features are supported.</li>

- * <li>The SVC instruction and vector, with parameter #0,  is internally used

- *     for commanded context switching.<br>

- *     It is possible to share the SVC handler at the cost of slower context

- *     switching.</li>

- * <li>The PendSV vector is internally used for preemption context switching.</li>

- * </ul>

- * @ingroup Ports

- */

-/** @} */

-

-/**

- * @defgroup ARMCM3CONF Configuration Options

- * @{

- * <p>

- * The ARMCM3 port allows some architecture-specific configurations settings

- * that can be specified externally, as example on the compiler command line:

- * <ul>

- * <li>@p INT_REQUIRED_STACK, this value represent the amount of stack space used

- *     by an interrupt handler between the @p extctx and @p intctx

- *     structures.<br>

- *     In the current implementation this value is guaranteed to be zero so

- *     there is no need to modify this value unless changes are done at the

- *     interrupts handling code.</li>

- * <li>@p BASEPRI_USER, this is the @p BASEPRI value for the user threads. The

- *     default value is @p 0 (disabled).<br>

- *     Usually there is no need to change this value, please refer to the

- *     Cortex-M3 technical reference manual for a detailed description.</li>

- * <li>@p BASEPRI_KERNEL, this is the @p BASEPRI value for the kernel lock code.

- *     The default value is 0x10.<br>

- *     Code running at higher priority levels must not invoke any OS API.<br>

- *     Usually there is no need to change this value, please refer to the

- *     Cortex-M3 technical reference manual for a detailed description.</li>

- * <li>@p ENABLE_WFI_IDLE, if set to @p 1 enables the use of the @p wfi

- *     instruction from within the idle loop. This is defaulted to 0 because

- *     it can create problems with some debuggers. Setting this option to 1

- *     reduces the system power requirements.</li>

- * </ul>

- * </p>

- * @ingroup ARMCM3

- */

-/** @} */

-

-/**

  * @defgroup STM32F103 STM32F103 Support

  * @{

  * <p>

diff --git a/ports/ARM7/chcore.c b/ports/ARM7/chcore.c
index d7d51c85b..9ffe94ac5 100644
--- a/ports/ARM7/chcore.c
+++ b/ports/ARM7/chcore.c
@@ -28,14 +28,18 @@
  * Prints a message on the system console.
  * @param msg pointer to the message
  */

+/** @cond never */

 __attribute__((weak))

+/** @endcond */

 void port_puts(char *msg) {

 }

 

 /**

  * Halts the system.
  */

+/** @cond never */

 __attribute__((weak))

+/** @endcond */

 void port_halt(void) {

 

   port_disable();

diff --git a/ports/ARM7/port.dox b/ports/ARM7/port.dox
index cf3532f96..9a9f319a6 100644
--- a/ports/ARM7/port.dox
+++ b/ports/ARM7/port.dox
@@ -105,7 +105,7 @@
 /** @} */

 

 /**

- * @defgroup ARM7CONF Configuration Options

+ * @defgroup ARM7_CONF Configuration Options

  * @{

  * @brief ARM7 specific configuration options.

  * @details The ARM7 port allows some architecture-specific configurations

@@ -133,7 +133,8 @@
  * @brief ARM7 specific port code, structures and macros.

  *

  * @ingroup ARM7

- * @file ports/ARM7/chcore.h Port related structures and macros.

  * @file ports/ARM7/chtypes.h Port types.

+ * @file ports/ARM7/chcore.h Port related structures and macros.

+ * @file ports/ARM7/chcore.c Port related code.

  */

 /** @} */

diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index acbc97d9b..3432a6577 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -32,7 +32,9 @@
  *       it in your application code.
  * @param msg pointer to the message string
  */

+/** @cond never */

 __attribute__((weak))

+/** @endcond */

 void port_puts(char *msg) {

 }

 

@@ -41,7 +43,9 @@ void port_puts(char *msg) {
  * @note The function is declared as a weak symbol, it is possible to redefine

  *       it in your application code.

  */

+/** @cond never */

 __attribute__((weak))

+/** @endcond */

 void port_halt(void) {

 

   port_disable();

@@ -53,7 +57,9 @@ void port_halt(void) {
  * Start a thread by invoking its work function.

  * If the work function returns @p chThdExit() is automatically invoked.

  */

+/** @cond never */

 __attribute__((naked, weak))

+/** @endcond */

 void threadstart(void) {

 

   asm volatile ("blx     r1                                     \n\t" \

@@ -79,7 +85,9 @@ CH_IRQ_HANDLER void SysTickVector(void) {
 /**

  * The SVC vector is used for commanded context switch.

  */

+/** @cond never */

 __attribute__((naked))

+/** @endcond */

 void SVCallVector(Thread *otp, Thread *ntp) {

   /* { r0 = otp, r1 = ntp } */

   /* get the BASEPRI in r3 */

@@ -146,7 +154,9 @@ void SVCallVector(Thread *otp, Thread *ntp) {
 /**

  * Preemption invoked context switch.

  */

+/** @cond never */

 __attribute__((naked))

+/** @endcond */

 void PendSVVector(void) {

   Thread *otp;

   register struct intctx *sp_thd asm("r12");

diff --git a/ports/ARMCM3/chcore.h b/ports/ARMCM3/chcore.h
index 831e03527..4ac271c79 100644
--- a/ports/ARMCM3/chcore.h
+++ b/ports/ARMCM3/chcore.h
@@ -28,16 +28,51 @@
 /*

  * Port-related configuration parameters.

  */

+

+/** Enables the use of the WFI ins. */

+#ifndef ENABLE_WFI_IDLE

+#define ENABLE_WFI_IDLE         0

+#endif

+

+/** BASEPRI user level, 0 = disabled. */

 #ifndef BASEPRI_USER

-#define BASEPRI_USER    0       /* User level BASEPRI, 0 = disabled.    */

+#define BASEPRI_USER            0

 #endif

 

+/**

+ * BASEPRI level within kernel lock.

+ * Priority levels higher than this one (lower values) are unaffected by

+ * the OS activity and can be classified as fast interrupt sources, see

+ * @ref interrupt_classes.

+ */

 #ifndef BASEPRI_KERNEL

-#define BASEPRI_KERNEL  0x10    /* BASEPRI level within kernel lock.    */

+#define BASEPRI_KERNEL          0x40

 #endif

 

-#ifndef ENABLE_WFI_IDLE

-#define ENABLE_WFI_IDLE 0       /* Enables the use of the WFI ins.      */

+/**

+ * SVCALL handler priority.

+ * @note This priority must always be one level above the @p BASEPRI_KERNEL

+ *       value.

+ * @note It is recommended to leave this priority level for this handler alone.

+ */

+#ifndef PRIORITY_SVCALL

+#define PRIORITY_SVCALL         (BASEPRI_KERNEL - 0x10)

+#endif

+

+/** SYSTICK handler priority. */

+#ifndef PRIORITY_SYSTICK

+#define PRIORITY_SYSTICK        0x80

+#endif

+

+/**

+ * PENDSV handler priority.

+ * @note It is recommended to leave this priority level for this handler alone.

+ * @note This is a reserved handler and its priority must always be the

+ *       lowest priority in the system in order to be always executed last

+ *       in the interrupt servicing chain.

+ */

+#ifndef PRIORITY_PENDSV

+#define PRIORITY_PENDSV         0xF0

 #endif

 

 /**

@@ -233,7 +268,7 @@ typedef struct {
 /**

  * This port function is implemented as inlined code for performance reasons.

  */

-#define port_switch(otp, ntp) {                                          \

+#define port_switch(otp, ntp) {                                         \

   register Thread *_otp asm ("r0") = (otp);                             \

   register Thread *_ntp asm ("r1") = (ntp);                             \

   asm volatile ("svc     #0" : : "r" (_otp), "r" (_ntp));               \

diff --git a/ports/ARMCM3/crt0.s b/ports/ARMCM3/crt0.s
index a7ebb59be..d31b36475 100644
--- a/ports/ARMCM3/crt0.s
+++ b/ports/ARMCM3/crt0.s
@@ -37,6 +37,8 @@
 .thumb_func
 .global ResetHandler
 ResetHandler:
+        /* Interrupts globally masked. */
+        cpsid   i
         /*
          * Stack pointers initialization.
          */
@@ -47,9 +49,7 @@ ResetHandler:
         msr     PSP, r0
 //        ldr     r1, =__process_stack_size__
 //        sub     r0, r0, r1
-        /*
-         * Early initialization.
-         */
+        /* Early initialization. */
         bl      hwinit0
         /*
          * Data initialization.
@@ -76,22 +76,13 @@ bloop:
         itt     lo
         strlo   r0, [r1], #4
         blo     bloop
-        /*
-         * Switches to the Process Stack and disables the interrupts globally.
-         */
+        /* Switches to the Process Stack. */
         movs    r0, #CONTROL_MODE_PRIVILEGED | CONTROL_USE_PSP
         msr     CONTROL, r0
         isb
-        movs    r0, #0x10
-        msr     BASEPRI, r0
-        cpsie   i
-        /*
-         * Late initialization.
-         */
+        /* Late initialization. */
         bl      hwinit1
-        /*
-         * main(0, NULL).
-         */
+        /* main(0, NULL). */
         movs    r0, #0
         mov     r1, r0
         bl      main
diff --git a/ports/ARMCM3/nvic.c b/ports/ARMCM3/nvic.c
index dbb4935c0..a054ed163 100644
--- a/ports/ARMCM3/nvic.c
+++ b/ports/ARMCM3/nvic.c
@@ -20,9 +20,27 @@
 #include <ch.h>

 #include <nvic.h>

 

+/**

+ * Sets the priority of an interrupt handler and enables it.

+ * @param n the interrupt number

+ * @param prio the interrupt priority

+ * @note The parameters are not tested for correctness.

+ */

 void NVICEnableVector(uint32_t n, uint32_t prio) {

-  int sh = (n & 3) << 3;

+  unsigned sh = (n & 3) << 3;

 

   NVIC_IPR(n >> 2) = (NVIC_IPR(n >> 2) & ~(0xFF << sh)) | (prio << sh);

   NVIC_ISER(n >> 5) = 1 << (n & 0x1F);

 }

+

+/**

+ * Changes the priority of a system handler.
+ * @param handler the system handler number
+ * @param prio the system handler priority

+ * @note The parameters are not tested for correctness.
+ */

+void NVICSetSystemHandlerPriority(uint32_t handler, uint32_t prio) {

+  unsigned sh = (handler & 3) * 8;

+

+  SCB_SHPR(handler >> 2) = (SCB_SHPR(handler >> 2) & ~(0xFF << sh)) | (prio << sh);

+}

diff --git a/ports/ARMCM3/nvic.h b/ports/ARMCM3/nvic.h
index 13a04fe78..3876410e5 100644
--- a/ports/ARMCM3/nvic.h
+++ b/ports/ARMCM3/nvic.h
@@ -20,6 +20,22 @@
 #ifndef _NVIC_H_

 #define _NVIC_H_

 

+/*

+ * System vector constants for @p NVICSetSystemHandlerPriority().
+ */

+#define HANDLER_MEM_MANAGE      0

+#define HANDLER_BUS_FAULT       1

+#define HANDLER_USAGE_FAULT     2

+#define HANDLER_RESERVED_3      3

+#define HANDLER_RESERVED_4      4

+#define HANDLER_RESERVED_5      5

+#define HANDLER_RESERVED_6      6

+#define HANDLER_SVCALL          7

+#define HANDLER_DEBUG_MONITOR   8

+#define HANDLER_RESERVED_9      9

+#define HANDLER_PENDSV          10

+#define HANDLER_SYSTICK         11

+

 typedef volatile unsigned char IOREG8;

 typedef volatile unsigned int IOREG32;

 

@@ -132,6 +148,7 @@ typedef struct {
 extern "C" {

 #endif

   void NVICEnableVector(uint32_t n, uint32_t prio);

+  void NVICSetSystemHandlerPriority(uint32_t handler, uint32_t prio);

 #ifdef __cplusplus

 }

 #endif

diff --git a/ports/ARMCM3/port.dox b/ports/ARMCM3/port.dox
new file mode 100644
index 000000000..28372e399
--- /dev/null
+++ b/ports/ARMCM3/port.dox
@@ -0,0 +1,108 @@
+/**

+ * @defgroup ARMCM3 ARM Cortex-M3

+ * @{

+ * @details The ARM Cortex-M3 architecture is quite complex for a

+ *  microcontroller and some explanations are required about the port choices.

+ *

+ * @section ARMCM3_STATES Mapping of the System States in the ARM Cortex-M3 port

+ * The ChibiOS/RT logical @ref system_states are mapped as follow in the ARM

+ * Cortex-M3 port:

+ * - <b>Initialization</b>. This state is represented by the startup code and

+ *   the initialization code before @p chSysInit() is executed. It has not a

+ *   special hardware state associated.

+ * - <b>Normal</b>. This is the state the system has after executing

+ *   @p chSysInit(). In this state the ARM Cortex-M3 has the BASEPRI register

+ *   set at @p BASEPRI_USER level, interrupts are not masked. The processor

+ *   is running in thread-privileged mode.

+ * - <b>Suspended</b>. In this state the interrupt sources are not globally

+ *   masked but the BASEPRI register is set to @p BASEPRI_KERNEL thus masking

+ *   any interrupt source with lower or equal priority. The processor

+ *   is running in thread-privileged mode.

+ * - <b>Disabled</b>. Interrupt sources are globally masked. The processor

+ *   is running in thread-privileged mode.

+ * - <b>Sleep</b>. This state is entered with the execution of the specific

+ *   instruction @p <b>wfi</b>.

+ * - <b>S-Locked</b>. In this state the interrupt sources are not globally

+ *   masked but the BASEPRI register is set to @p BASEPRI_KERNEL thus masking

+ *   any interrupt source with lower or equal priority. The processor

+ *   is running in thread-privileged mode.

+ * - <b>I-Locked</b>. In this state the interrupt sources are not globally

+ *   masked but the BASEPRI register is set to @p BASEPRI_KERNEL thus masking

+ *   any interrupt source with lower or equal priority. The processor

+ *   is running in exception-privileged mode.

+ * - <b>Serving Regular Interrupt</b>. In this state the interrupt sources are

+ *   not globally masked but only interrupts with higher priority can preempt

+ *   the current handler. The processor is running in exception-privileged mode.

+ * - <b>Serving Fast Interrupt</b>. It is basically the same of the SRI state

+ *   but it is not possible to switch to the I-Locked state because fast

+ *   interrupts can preempt the kernel critical zone.

+ * - <b>Serving Non-Maskable Interrupt</b>. The Cortex-M3 has a specific

+ *   asynchronous NMI vector and several synchronous fault vectors that can

+ *   be considered to be in this category.

+ * - <b>Halted</b>. Implemented as an infinite loop after globally masking all

+ *   the maskable interrupt sources. The ARM state is whatever the processor

+ *   was running when @p chSysHalt() was invoked.

+ * 

+ * @section ARMCM3_NOTES The ARM Cortex-M3 port notes

+ * The ARM Cortex-M3 port is organized as follow:

+ * - The @p main() function is invoked in thread-privileged mode.

+ * - Each thread has a private process stack, the system has a single main

+ *   stack where all the interrupts and exceptions are processed.

+ * - Only the 4 MSb of the priority level are used, the 4 LSb are assumed

+ *   to be zero.

+ * - The threads are started in thread-privileged mode with BASEPRI level

+ *   0x00 (disabled).

+ * - The kernel raises its BASEPRI level to @p BASEPRI_KERNEL in order to

+ *   protect the kernel data structures.

+ * - Interrupt nesting and the other advanced NVIC features are supported.

+ * - The SVC instruction and vector, with parameter #0,  is internally used

+ *   for commanded context switching.<br>

+ *   It is possible to share the SVC handler at the cost of slower context

+ *   switching.

+ * - The PendSV vector is internally used for preemption context switching.

+ *

+ * @ingroup Ports

+ */

+/** @} */

+

+/**

+ * @defgroup ARMCM3_CONF Configuration Options

+ * @{

+ * @brief ARM Cortex-M3 Configuration Options.

+ * The ARMCM3 port allows some architecture-specific configurations settings

+ * that can be specified externally, as example on the compiler command line:

+ * - @p INT_REQUIRED_STACK, this value represent the amount of stack space used

+ *   by an interrupt handler between the @p extctx and @p intctx

+ *   structures.<br>

+ *   In the current implementation this value is guaranteed to be zero so

+ *   there is no need to modify this value unless changes are done at the

+ *   interrupts handling code.

+ * - @p BASEPRI_USER, this is the @p BASEPRI value for the user threads. The

+ *   default value is @p 0 (disabled).<br>

+ *   Usually there is no need to change this value, please refer to the

+ *   Cortex-M3 technical reference manual for a detailed description.

+ * - @p BASEPRI_KERNEL, this is the @p BASEPRI value for the kernel lock code.

+ *   The default value is 0x10.<br>

+ *   Code running at higher priority levels must not invoke any OS API.<br>

+ *   Usually there is no need to change this value, please refer to the

+ *   Cortex-M3 technical reference manual for a detailed description.

+ * - @p ENABLE_WFI_IDLE, if set to @p 1 enables the use of the @p <b>wfi</b>

+ *   instruction from within the idle loop. This is defaulted to 0 because

+ *   it can create problems with some debuggers. Setting this option to 1

+ *   reduces the system power requirements.

+ *

+ * @ingroup ARMCM3

+ */

+/** @} */

+

+/**

+ * @defgroup ARMCM3_CORE ARM Cortex-M3 Core Implementation

+ * @{

+ * @brief ARM Cortex-M3 specific port code, structures and macros.

+ *

+ * @ingroup ARMCM3

+ * @file ports/ARMCM3/chtypes.h Port types.

+ * @file ports/ARMCM3/chcore.h Port related structures and macros.

+ * @file ports/ARMCM3/chcore.c Port related code.

+ */

+/** @} */

diff --git a/readme.txt b/readme.txt
index 3256928b0..3b9b4edba 100644
--- a/readme.txt
+++ b/readme.txt
@@ -85,8 +85,9 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
   CH_IRQ_PROLOGUE() and CH_IRQ_EPILOGUE() in order to make very clear that

   those are not functions but inlined code. Also introduced a new macro

   CH_IRQ_HANDLER that should be used when declaring an interrupt handler.

+- Improved ARM7 and Cortex-M3 support.

 - Introduced the concept of interrupt classes, see the documentation.

-- Introduced the concept of system state, see the documentation.

+- Introduced the concept of system states, see the documentation.

 - Huge improvements to the ports documentation.

 

 *** 1.0.0rc2 ***