git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2615 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 150 insertions, 93 deletions

diff --git a/os/ports/IAR/ARMCMx/chcore_v6m.c b/os/ports/IAR/ARMCMx/chcore_v6m.c
index 4c8ab0646..25b360809 100644
--- a/os/ports/IAR/ARMCMx/chcore_v6m.c
+++ b/os/ports/IAR/ARMCMx/chcore_v6m.c
@@ -53,94 +53,4 @@ CH_IRQ_HANDLER(SysTickVector) {
   CH_IRQ_EPILOGUE();

 }

 

-/**

- * @brief   Post-IRQ switch code.

- * @details On entry the stack and the registers are restored by the exception

- *          return, the PC value is stored in @p _port_saved_pc, the interrupts

- *          are disabled.

- */

-void _port_switch_from_irq(void) {

-  /* Note, saves r4 to make space for the PC.*/

-  asm ("push    {r0, r1, r2, r3, r4}                  \n\t"

-       "mrs     r0, APSR                              \n\t"

-       "mov     r1, r12                               \n\t"

-       "push    {r0, r1, lr}                          \n\t"

-       "ldr     r0, =_port_saved_pc                   \n\t"

-       "ldr     r0, [r0]                              \n\t"

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

-       "str     r0, [sp, #28]");

-

-  chSchDoRescheduleI();

-

-  /* Note, the last registers are restored alone after re-enabling the

-     interrupts in order to minimize the (very remote and unlikely)

-     possibility that the stack is filled by continuous and saturating

-     interrupts that would not allow that last words to be pulled out of

-     the stack.*/

-  asm ("pop     {r0, r1, r2}                           \n\t"

-       "mov     r12, r1                                \n\t"

-       "msr     APSR, r0                               \n\t"

-       "mov     lr, r2                                 \n\t"

-       "cpsie   i                                      \n\t"

-       "pop     {r0, r1, r2, r3, pc}");

-}

-

-#define PUSH_CONTEXT(sp) {                                                  \

-  asm ("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}");                                         \

-}

-

-#define POP_CONTEXT(sp) {                                                   \

-  asm ("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}");                                     \

-}

-

-/**

- * @brief   Performs a context switch between two threads.

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

- *          is responsible for the context switch between 2 threads.

- * @note    The implementation of this code affects <b>directly</b> the context

- *          switch performance so optimize here as much as you can.

- *

- * @param[in] ntp       the thread to be switched in

- * @param[in] otp       the thread to be switched out

- */

-void port_switch(Thread *ntp, Thread *otp) {

-

-  /* Stack overflow check, if enabled.*/

-#if CH_DBG_ENABLE_STACK_CHECK

-  if ((void *)(r13 - 1) < (void *)(otp + 1))

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

-                  "b       chDbgPanic");

-#endif /* CH_DBG_ENABLE_STACK_CHECK */

-

-  PUSH_CONTEXT(r13);

-

-  asm ("str     sp, [r1, #12]                                   \n\t"

-       "ldr     sp, [r0, #12]");

-

-  POP_CONTEXT(r13);

-}

-

-/**

- * @brief   Start a thread by invoking its work function.

- * @details If the work function returns @p chThdExit() is automatically

- *          invoked.

- */

-void _port_thread_start(void) {

-

-  port_unlock();

-  asm ("mov     r0, r5                                          \n\t"

-       "blx     r4                                              \n\t"

-       "bl      chThdExit");

-}

-

 /** @} */

diff --git a/os/ports/IAR/ARMCMx/chcore_v6m.h b/os/ports/IAR/ARMCMx/chcore_v6m.h
index 3c1189ce6..fe6c68a92 100644
--- a/os/ports/IAR/ARMCMx/chcore_v6m.h
+++ b/os/ports/IAR/ARMCMx/chcore_v6m.h
@@ -216,6 +216,18 @@ struct intctx {
 #define port_wait_for_interrupt()

 #endif

 

+/**

+ * @brief   Performs a context switch between two threads.

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

+ *          is responsible for the context switch between 2 threads.

+ * @note    The implementation of this code affects <b>directly</b> the context

+ *          switch performance so optimize here as much as you can.

+ *

+ * @param[in] ntp       the thread to be switched in

+ * @param[in] otp       the thread to be switched out

+ */

+#define port_switch(ntp, otp) _port_switch(ntp, otp)

+

 #if !defined(__DOXYGEN__)

 extern regarm_t _port_saved_pc;

 extern unsigned _port_irq_nesting;

@@ -225,8 +237,9 @@ extern unsigned _port_irq_nesting;
 extern "C" {

 #endif

   void port_halt(void);

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

-  void _port_switch_from_irq(void);

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

+  void _port_irq_epilogue(void);

+  void _port_switch_from_isr(void);

   void _port_thread_start(void);

 #ifdef __cplusplus

 }

diff --git a/os/ports/IAR/ARMCMx/chcore_v7m.h b/os/ports/IAR/ARMCMx/chcore_v7m.h
index 7f7112d45..ba0c83f5a 100644
--- a/os/ports/IAR/ARMCMx/chcore_v7m.h
+++ b/os/ports/IAR/ARMCMx/chcore_v7m.h
@@ -225,7 +225,7 @@ struct intctx {
  * @param[in] ntp       the thread to be switched in

  * @param[in] otp       the thread to be switched out

  */

-#define port_switch(ntp, otp)  _port_switch(ntp, otp)

+#define port_switch(ntp, otp) _port_switch(ntp, otp)

 

 #ifdef __cplusplus

 extern "C" {

diff --git a/os/ports/IAR/ARMCMx/chcoreasm_v6m.s b/os/ports/IAR/ARMCMx/chcoreasm_v6m.s
new file mode 100644
index 000000000..c9ee6a0c8
--- /dev/null
+++ b/os/ports/IAR/ARMCMx/chcoreasm_v6m.s
@@ -0,0 +1,134 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT 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

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+        MODULE  ?chcoreasm_v6m

+

+        AAPCS INTERWORK, VFP_COMPATIBLE

+        PRESERVE8

+

+/*

+ * Imports the Cortex-Mx parameters header and performs the same calculations

+ * done in chcore.h.

+ */

+#include "cmparams.h"

+

+#define CORTEX_PRIORITY_MASK(n) ((n) << (8 - CORTEX_PRIORITY_BITS))

+

+#ifndef CORTEX_PRIORITY_SVCALL

+#define CORTEX_PRIORITY_SVCALL  1

+#endif

+

+EXTCTX_SIZE     SET 32

+CONTEXT_OFFSET  SET 12

+

+        SECTION .text:CODE:NOROOT(2)

+

+        EXTERN  chThdExit

+        EXTERN  chSchIsRescRequiredExI

+        EXTERN  chSchDoRescheduleI

+        EXTERN  _port_saved_pc

+        EXTERN  _port_irq_nesting

+

+        THUMB

+

+/*

+ * Performs a context switch between two threads.

+ */

+        PUBLIC _port_switch

+_port_switch:

+        push    {r4, r5, r6, r7, lr}

+        mov     r4, r8

+        mov     r5, r9

+        mov     r6, r10

+        mov     r7, r11

+        push    {r4, r5, r6, r7}

+        mov     r3, sp

+        str     r3, [r1, #CONTEXT_OFFSET]

+        ldr     r3, [r0, #CONTEXT_OFFSET]

+        mov     sp, r3

+        pop     {r4, r5, r6, r7}

+        mov     r8, r4

+        mov     r9, r5

+        mov     r10, r6

+        mov     r11, r7

+        pop     {r4, r5, r6, r7, pc}

+

+/*

+ * Start a thread by invoking its work function.

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

+ */

+        PUBLIC  _port_thread_start

+_port_thread_start:

+        cpsie   i

+        mov     r0, r5

+        blx     r4

+        bl      chThdExit

+

+/*

+ * Post-IRQ switch code.

+ * Exception handlers return here for context switching.

+ */

+        PUBLIC  _port_switch_from_isr

+_port_switch_from_isr:

+        /* Note, saves r4 to make space for the PC.*/

+        push    {r0, r1, r2, r3, r4}

+        mrs     r0, APSR

+        mov     r1, r12

+        push    {r0, r1, lr}

+        ldr     r0, =_port_saved_pc

+        ldr     r0, [r0]

+        adds    r0, r0, #1

+        str     r0, [sp, #28]

+        bl      chSchDoRescheduleI

+        pop     {r0, r1, r2}

+        mov     r12, r1

+        msr     APSR, r0

+        mov     lr, r2

+        cpsie   i

+        pop     {r0, r1, r2, r3, pc}

+

+/*

+ * Reschedule verification and setup after an IRQ.

+ */

+        PUBLIC  _port_irq_epilogue

+_port_irq_epilogue:

+        push    {r4, lr}

+        cpsid   i

+        ldr     r2, =_port_irq_nesting

+        ldr     r3, [r2]

+        subs    r3, r3, #1

+        str     r3, [r2]

+        cmp     r3, #0

+        beq     .L34

+        cpsie   i

+        pop     {r4, pc}

+.L34:

+        bl      chSchIsRescRequiredExI

+        cmp     r0, #0

+        beq     .L31

+        mrs     r1, PSP

+        ldr     r2, =_port_saved_pc

+        ldr     r3, [r1, #24]

+        str     r3, [r2]

+        ldr     r3, =_port_switch_from_isr

+        str     r3, [r1, #24]

+.L31:

+        pop     {r4, pc}

+

+        END