git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3668 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 71 insertions, 82 deletions

diff --git a/os/ports/GCC/ARMCMx/chcore.h b/os/ports/GCC/ARMCMx/chcore.h
index 15cf9ac96..f8e34779f 100644
--- a/os/ports/GCC/ARMCMx/chcore.h
+++ b/os/ports/GCC/ARMCMx/chcore.h
@@ -205,6 +205,24 @@ struct intctx {};
 

 #endif /* defined(__DOXYGEN__) */

 

+

+/**

+ * @brief   Excludes the default @p chSchIsPreemptionRequired()implementation.

+ */

+#define PORT_OPTIMIZED_ISPREEMPTIONREQUIRED

+

+#if (CH_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

+/**

+ * @brief   Inlineable version of this kernel function.

+ */

+#define chSchIsPreemptionRequired()                                         \

+  (rlist.r_preempt ? firstprio(&rlist.r_queue) > currp->p_prio :            \

+                     firstprio(&rlist.r_queue) >= currp->p_prio)

+#else /* CH_TIME_QUANTUM == 0 */

+#define chSchIsPreemptionRequired()                                         \

+  (firstprio(&rlist.r_queue) > currp->p_prio)

+#endif /* CH_TIME_QUANTUM == 0 */

+

 #endif /* _FROM_ASM_ */

 

 #endif /* _CHCORE_H_ */

diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.c b/os/ports/GCC/ARMCMx/chcore_v6m.c
index f154b9446..fa5b6b8c3 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.c
@@ -88,6 +88,41 @@ void PendSVVector(void) {
 /*===========================================================================*/

 

 /**

+ * @brief   IRQ epilogue code.

+ *

+ * @param[in] lr        value of the @p LR register on ISR entry

+ */

+void _port_irq_epilogue(regarm_t lr) {

+

+  if (lr != (regarm_t)0xFFFFFFF1) {

+    register struct extctx *ctxp;

+

+    port_lock_from_isr();

+    /* Adding an artificial exception return context, there is no need to

+       populate it fully.*/

+    asm volatile ("mrs     %0, PSP" : "=r" (ctxp) : : "memory");

+    ctxp--;

+    asm volatile ("msr     PSP, %0" : : "r" (ctxp) : "memory");

+    ctxp->xpsr = (regarm_t)0x01000000;

+

+    /* The exit sequence is different depending on if a preemption is

+       required or not.*/

+    if (chSchIsPreemptionRequired()) {

+      /* Preemption is required we need to enforce a context switch.*/

+      ctxp->pc = _port_switch_from_isr;

+    }

+    else {

+      /* Preemption not required, we just need to exit the exception

+         atomically.*/

+      ctxp->pc = _port_exit_from_isr;

+    }

+

+    /* Note, returning without unlocking is intentional, this is done in

+       order to keep the rest of the context switching atomic.*/

+  }

+}

+

+/**

  * @brief   Post-IRQ switch code.

  * @details The switch is performed in thread context then an NMI exception

  *          is enforced in order to return to the exact point before the

@@ -98,8 +133,8 @@ __attribute__((naked))
 #endif

 void _port_switch_from_isr(void) {

 

-  if (chSchIsPreemptionRequired())

-    chSchDoReschedule();

+  chSchDoReschedule();

+  asm volatile ("_port_exit_from_isr:" : : : "memory");

 #if CORTEX_ALTERNATE_SWITCH

   SCB_ICSR = ICSR_PENDSVSET;

   port_unlock();

@@ -112,24 +147,6 @@ void _port_switch_from_isr(void) {
     ;

 }

 

-#define PUSH_CONTEXT(sp) {                                                  \

-  asm volatile ("push    {r4, r5, r6, r7, lr}                   \n\t"       \

-                "mov     r4, r8                                 \n\t"       \

-                "mov     r5, r9                                 \n\t"       \

-                "mov     r6, r10                                \n\t"       \

-                "mov     r7, r11                                \n\t"       \

-                "push    {r4, r5, r6, r7}" : : : "memory");                 \

-}

-

-#define POP_CONTEXT(sp) {                                                   \

-  asm volatile ("pop     {r4, r5, r6, r7}                       \n\t"       \

-                "mov     r8, r4                                 \n\t"       \

-                "mov     r9, r5                                 \n\t"       \

-                "mov     r10, r6                                \n\t"       \

-                "mov     r11, r7                                \n\t"       \

-                "pop     {r4, r5, r6, r7, pc}" : : "r" (sp) : "memory");    \

-}

-

 /**

  * @brief   Performs a context switch between two threads.

  * @details This is the most critical code in any port, this function

@@ -146,35 +163,22 @@ __attribute__((naked))
 void _port_switch(Thread *ntp, Thread *otp) {

   register struct intctx *r13 asm ("r13");

 

-  PUSH_CONTEXT(r13);

+  asm volatile ("push    {r4, r5, r6, r7, lr}                   \n\t"

+                "mov     r4, r8                                 \n\t"

+                "mov     r5, r9                                 \n\t"

+                "mov     r6, r10                                \n\t"

+                "mov     r7, r11                                \n\t"

+                "push    {r4, r5, r6, r7}" : : : "memory");

 

   otp->p_ctx.r13 = r13;

   r13 = ntp->p_ctx.r13;

 

-  POP_CONTEXT(r13);

-}

-

-/**

- * @brief   IRQ epilogue code.

- *

- * @param[in] lr        value of the @p LR register on ISR entry

- */

-void _port_irq_epilogue(regarm_t lr) {

-

-  if (lr != (regarm_t)0xFFFFFFF1) {

-    register struct extctx *ctxp;

-

-    port_lock_from_isr();

-    /* Adding an artificial exception return context, there is no need to

-       populate it fully.*/

-    asm volatile ("mrs     %0, PSP" : "=r" (ctxp) : : "memory");

-    ctxp--;

-    asm volatile ("msr     PSP, %0" : : "r" (ctxp) : "memory");

-    ctxp->pc = _port_switch_from_isr;

-    ctxp->xpsr = (regarm_t)0x01000000;

-    /* Note, returning without unlocking is intentional, this is done in

-       order to keep the rest of the context switching atomic.*/

-  }

+  asm volatile ("pop     {r4, r5, r6, r7}                       \n\t"

+                "mov     r8, r4                                 \n\t"

+                "mov     r9, r5                                 \n\t"

+                "mov     r10, r6                                \n\t"

+                "mov     r11, r7                                \n\t"

+                "pop     {r4, r5, r6, r7, pc}" : : "r" (sp) : "memory");

 }

 

 /**

diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.h b/os/ports/GCC/ARMCMx/chcore_v6m.h
index 34d1ee911..3e2e175bb 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.h
@@ -349,30 +349,14 @@ struct context {
 }

 #endif

 

-/**

- * @brief   Excludes the default @p chSchIsPreemptionRequired()implementation.

- */

-#define PORT_OPTIMIZED_ISPREEMPTIONREQUIRED

-

-#if (CH_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

-/**

- * @brief   Inlineable version of this kernel function.

- */

-#define chSchIsPreemptionRequired()                                         \

-  (rlist.r_preempt ? firstprio(&rlist.r_queue) > currp->p_prio :            \

-                     firstprio(&rlist.r_queue) >= currp->p_prio)

-#else /* CH_TIME_QUANTUM == 0 */

-#define chSchIsPreemptionRequired()                                         \

-  (firstprio(&rlist.r_queue) > currp->p_prio)

-#endif /* CH_TIME_QUANTUM == 0 */

-

 #ifdef __cplusplus

 extern "C" {

 #endif

   void port_halt(void);

-  void _port_switch(Thread *ntp, Thread *otp);

   void _port_irq_epilogue(regarm_t lr);

   void _port_switch_from_isr(void);

+  void _port_exit_from_isr(void);

+  void _port_switch(Thread *ntp, Thread *otp);

   void _port_thread_start(void);

 #ifdef __cplusplus

 }

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.c b/os/ports/GCC/ARMCMx/chcore_v7m.c
index 30ba9c220..87f62dddc 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.c
@@ -188,7 +188,6 @@ void _port_irq_epilogue(void) {
     else {

       /* Preemption not required, we just need to exit the exception

          atomically.*/

-      void _port_exit_from_isr(void);

       ctxp->pc = _port_exit_from_isr;

     }

 

diff --git a/os/ports/GCC/ARMCMx/chcore_v7m.h b/os/ports/GCC/ARMCMx/chcore_v7m.h
index 4ea70b8fb..56eca0d0e 100644
--- a/os/ports/GCC/ARMCMx/chcore_v7m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v7m.h
@@ -486,31 +486,15 @@ struct context {
 }

 #endif

 

-/**

- * @brief   Excludes the default @p chSchIsPreemptionRequired()implementation.

- */

-#define PORT_OPTIMIZED_ISPREEMPTIONREQUIRED

-

-#if (CH_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

-/**

- * @brief   Inlineable version of this kernel function.

- */

-#define chSchIsPreemptionRequired()                                         \

-  (rlist.r_preempt ? firstprio(&rlist.r_queue) > currp->p_prio :            \

-                     firstprio(&rlist.r_queue) >= currp->p_prio)

-#else /* CH_TIME_QUANTUM == 0 */

-#define chSchIsPreemptionRequired()                                         \

-  (firstprio(&rlist.r_queue) > currp->p_prio)

-#endif /* CH_TIME_QUANTUM == 0 */

-

 #ifdef __cplusplus

 extern "C" {

 #endif

   void port_halt(void);

   void _port_init(void);

-  void _port_switch(Thread *ntp, Thread *otp);

   void _port_irq_epilogue(void);

   void _port_switch_from_isr(void);

+  void _port_exit_from_isr(void);

+  void _port_switch(Thread *ntp, Thread *otp);

   void _port_thread_start(void);

 #if !CH_OPTIMIZE_SPEED

   void _port_lock(void);