diff options
| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2011-12-27 19:12:33 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2011-12-27 19:12:33 +0000 |
| commit | bbc58e4f6055c24d8633a90fa2026a7db1d3184a (patch) | |
| tree | 8643b30efce50659c888e9ac91e10852f9e111ef /os/ports | |
| parent | e1b77bfb88cd1107e11b5f7f17a6a443e864d258 (diff) | |
| download | ChibiOS-bbc58e4f6055c24d8633a90fa2026a7db1d3184a.tar.gz ChibiOS-bbc58e4f6055c24d8633a90fa2026a7db1d3184a.tar.bz2 ChibiOS-bbc58e4f6055c24d8633a90fa2026a7db1d3184a.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3664 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/ports')
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcore.h | 89 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcore_v6m.c | 66 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcore_v6m.h | 127 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcore_v7m.c | 154 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcore_v7m.h | 201 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcoreasm_v6m.s | 49 | ||||
| -rw-r--r-- | os/ports/IAR/ARMCMx/chcoreasm_v7m.s | 75 |
7 files changed, 553 insertions, 208 deletions
diff --git a/os/ports/IAR/ARMCMx/chcore.h b/os/ports/IAR/ARMCMx/chcore.h index 9572a48c8..9b3f466c0 100644 --- a/os/ports/IAR/ARMCMx/chcore.h +++ b/os/ports/IAR/ARMCMx/chcore.h @@ -105,7 +105,7 @@ * a stack frame when compiling without optimizations. You may
* reduce this value to zero when compiling with optimizations.
*/
-#ifndef PORT_IDLE_THREAD_STACK_SIZE
+#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
#define PORT_IDLE_THREAD_STACK_SIZE 16
#endif
@@ -120,14 +120,14 @@ * @p chSchDoReschedule() can have a stack frame, expecially with
* compiler optimizations disabled.
*/
-#ifndef PORT_INT_REQUIRED_STACK
+#if !defined(PORT_INT_REQUIRED_STACK)
#define PORT_INT_REQUIRED_STACK 16
#endif
/**
* @brief Enables the use of the WFI instruction in the idle thread loop.
*/
-#ifndef CORTEX_ENABLE_WFI_IDLE
+#if !defined(CORTEX_ENABLE_WFI_IDLE)
#define CORTEX_ENABLE_WFI_IDLE FALSE
#endif
@@ -136,25 +136,12 @@ * @note The default SYSTICK handler priority is calculated as the priority
* level in the middle of the numeric priorities range.
*/
-#ifndef CORTEX_PRIORITY_SYSTICK
+#if !defined(CORTEX_PRIORITY_SYSTICK)
#define CORTEX_PRIORITY_SYSTICK (CORTEX_PRIORITY_LEVELS >> 1)
-#else
+#elif !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SYSTICK)
/* If it is externally redefined then better perform a validity check on it.*/
-#if !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SYSTICK)
#error "invalid priority level specified for CORTEX_PRIORITY_SYSTICK"
#endif
-#endif
-
-/**
- * @brief Stack alignment enforcement.
- * @note The default value is 64 in order to comply with EABI, reducing
- * the value to 32 can save some RAM space if you don't care about
- * binary compatibility with EABI compiled libraries.
- * @note Allowed values are 32 or 64.
- */
-#ifndef CORTEX_STACK_ALIGNMENT
-#define CORTEX_STACK_ALIGNMENT 64
-#endif
/*===========================================================================*/
/* Port derived parameters (common). */
@@ -190,80 +177,34 @@ #include <intrinsics.h>
#include "nvic.h"
+/* The following declarations are there just for Doxygen documentation, the
+ real declarations are inside the sub-headers.*/
+#if defined(__DOXYGEN__)
+
/**
* @brief Stack and memory alignment enforcement.
+ * @note In this architecture the stack alignment is enforced to 64 bits,
+ * 32 bits alignment is supported by hardware but deprecated by ARM,
+ * the implementation choice is to not offer the option.
*/
-#if (CORTEX_STACK_ALIGNMENT == 64) || defined(__DOXYGEN__)
typedef uint64_t stkalign_t;
-#elif CORTEX_STACK_ALIGNMENT == 32
-typedef uint32_t stkalign_t;
-#else
-#error "invalid stack alignment selected"
-#endif
-#if defined(__DOXYGEN__)
/**
* @brief Interrupt saved context.
* @details This structure represents the stack frame saved during a
* preemption-capable interrupt handler.
* @note It is implemented to match the Cortex-Mx exception context.
*/
-struct extctx {
- /* Dummy definition, just for Doxygen.*/
-};
+struct extctx {};
/**
* @brief System saved context.
* @details This structure represents the inner stack frame during a context
* switching.
*/
-struct intctx {
- /* Dummy definition, just for Doxygen.*/
-};
-#endif
-
-/**
- * @brief Platform dependent part of the @p Thread structure.
- * @details In this port the structure just holds a pointer to the @p intctx
- * structure representing the stack pointer at context switch time.
- */
-struct context {
- struct intctx *r13;
-};
+struct intctx {};
-/**
- * @brief Platform dependent part of the @p chThdCreateI() API.
- * @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 = (void *)pf; \
- tp->p_ctx.r13->r5 = (void *)arg; \
- tp->p_ctx.r13->lr = (void *)_port_thread_start; \
-}
-
-/**
- * @brief Enforces a correct alignment for a stack area size value.
- */
-#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
-
-/**
- * @brief Computes the thread working area global size.
- */
-#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
- sizeof(struct intctx) + \
- sizeof(struct extctx) + \
- (n) + (PORT_INT_REQUIRED_STACK))
-
-/**
- * @brief Static working area allocation.
- * @details This macro is used to allocate a static thread working area
- * aligned as both position and size.
- */
-#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]
+#endif /* defined(__DOXYGEN__) */
#endif /* _FROM_ASM_ */
diff --git a/os/ports/IAR/ARMCMx/chcore_v6m.c b/os/ports/IAR/ARMCMx/chcore_v6m.c index f04ff96d1..bee25350a 100644 --- a/os/ports/IAR/ARMCMx/chcore_v6m.c +++ b/os/ports/IAR/ARMCMx/chcore_v6m.c @@ -28,6 +28,10 @@ #include "ch.h"
+/*===========================================================================*/
+/* Port interrupt handlers. */
+/*===========================================================================*/
+
/**
* @brief System Timer vector.
* @details This interrupt is used as system tick.
@@ -44,4 +48,66 @@ CH_IRQ_HANDLER(SysTickVector) { CH_IRQ_EPILOGUE();
}
+#if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
+/**
+ * @brief NMI vector.
+ * @details The NMI vector is used for exception mode re-entering after a
+ * context switch.
+ */
+void NMIVector(void) {
+ register struct extctx *ctxp;
+
+ /* Discarding the current exception context and positioning the stack to
+ point to the real one.*/
+ ctxp = (struct extctx *)__get_PSP();
+ ctxp++;
+ __set_PSP((unsigned long)ctxp);
+ port_unlock_from_isr();
+}
+#endif /* !CORTEX_ALTERNATE_SWITCH */
+
+#if CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
+/**
+ * @brief PendSV vector.
+ * @details The PendSV vector is used for exception mode re-entering after a
+ * context switch.
+ */
+void PendSVVector(void) {
+ register struct extctx *ctxp;
+
+ /* Discarding the current exception context and positioning the stack to
+ point to the real one.*/
+ ctxp = (struct extctx *)__get_PSP();
+ ctxp++;
+ __set_PSP((unsigned long)ctxp);
+}
+#endif /* CORTEX_ALTERNATE_SWITCH */
+
+/*===========================================================================*/
+/* Port exported functions. */
+/*===========================================================================*/
+
+/**
+ * @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.*/
+ ctxp = (struct extctx *)__get_PSP();
+ ctxp--;
+ __set_PSP((unsigned long)ctxp);
+ ctxp->pc = (regarm_t)_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.*/
+ }
+}
+
/** @} */
diff --git a/os/ports/IAR/ARMCMx/chcore_v6m.h b/os/ports/IAR/ARMCMx/chcore_v6m.h index 9c7f77203..75f6c84da 100644 --- a/os/ports/IAR/ARMCMx/chcore_v6m.h +++ b/os/ports/IAR/ARMCMx/chcore_v6m.h @@ -42,10 +42,61 @@ #define CORTEX_PRIORITY_PENDSV 0
/*===========================================================================*/
+/* Port macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
/* Port configurable parameters. */
/*===========================================================================*/
/**
+ * @brief Stack size for the system idle thread.
+ * @details This size depends on the idle thread implementation, usually
+ * the idle thread should take no more space than those reserved
+ * by @p PORT_INT_REQUIRED_STACK.
+ * @note In this port it is set to 16 because the idle thread does have
+ * a stack frame when compiling without optimizations. You may
+ * reduce this value to zero when compiling with optimizations.
+ */
+#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
+#define PORT_IDLE_THREAD_STACK_SIZE 16
+#endif
+
+/**
+ * @brief Per-thread stack overhead for interrupts servicing.
+ * @details This constant is used in the calculation of the correct working
+ * area size.
+ * This value can be zero on those architecture where there is a
+ * separate interrupt stack and the stack space between @p intctx and
+ * @p extctx is known to be zero.
+ * @note In this port it is conservatively set to 16 because the function
+ * @p chSchDoReschedule() can have a stack frame, expecially with
+ * compiler optimizations disabled.
+ */
+#if !defined(PORT_INT_REQUIRED_STACK)
+#define PORT_INT_REQUIRED_STACK 16
+#endif
+
+/**
+ * @brief Enables the use of the WFI instruction in the idle thread loop.
+ */
+#if !defined(CORTEX_ENABLE_WFI_IDLE)
+#define CORTEX_ENABLE_WFI_IDLE FALSE
+#endif
+
+/**
+ * @brief SYSTICK handler priority.
+ * @note The default SYSTICK handler priority is calculated as the priority
+ * level in the middle of the numeric priorities range.
+ */
+#if !defined(CORTEX_PRIORITY_SYSTICK)
+#define CORTEX_PRIORITY_SYSTICK (CORTEX_PRIORITY_LEVELS >> 1)
+#elif !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SYSTICK)
+/* If it is externally redefined then better perform a validity check on it.*/
+#error "invalid priority level specified for CORTEX_PRIORITY_SYSTICK"
+#endif
+
+/**
* @brief Alternate preemption method.
* @details Activating this option will make the Kernel use the PendSV
* handler for preemption instead of the NMI handler.
@@ -101,7 +152,18 @@ */
typedef void *regarm_t;
+/**
+ * @brief Stack and memory alignment enforcement.
+ * @note In this architecture the stack alignment is enforced to 64 bits,
+ * 32 bits alignment is supported by hardware but deprecated by ARM,
+ * the implementation choice is to not offer the option.
+ */
+typedef uint64_t stkalign_t;
+
+ /* The documentation of the following declarations is in chconf.h in order
+ to not have duplicated structure names into the documentation.*/
#if !defined(__DOXYGEN__)
+
struct extctx {
regarm_t r0;
regarm_t r1;
@@ -124,7 +186,51 @@ struct intctx { regarm_t r7;
regarm_t lr;
};
-#endif
+
+#endif /* !defined(__DOXYGEN__) */
+
+/**
+ * @brief Platform dependent part of the @p Thread structure.
+ * @details In this port the structure just holds a pointer to the @p intctx
+ * structure representing the stack pointer at context switch time.
+ */
+struct context {
+ struct intctx *r13;
+};
+
+/**
+ * @brief Platform dependent part of the @p chThdCreateI() API.
+ * @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 = (regarm_t)pf; \
+ tp->p_ctx.r13->r5 = (regarm_t)arg; \
+ tp->p_ctx.r13->lr = (regarm_t)_port_thread_start; \
+}
+
+/**
+ * @brief Enforces a correct alignment for a stack area size value.
+ */
+#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
+
+/**
+ * @brief Computes the thread working area global size.
+ */
+#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
+ sizeof(struct intctx) + \
+ sizeof(struct extctx) + \
+ (n) + (PORT_INT_REQUIRED_STACK))
+
+/**
+ * @brief Static working area allocation.
+ * @details This macro is used to allocate a static thread working area
+ * aligned as both position and size.
+ */
+#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]
/**
* @brief IRQ prologue code.
@@ -246,6 +352,25 @@ struct intctx { }
#endif
+#if 0
+/**
+ * @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
+
#ifdef __cplusplus
extern "C" {
#endif
diff --git a/os/ports/IAR/ARMCMx/chcore_v7m.c b/os/ports/IAR/ARMCMx/chcore_v7m.c index cef8b59a0..ee6e41360 100644 --- a/os/ports/IAR/ARMCMx/chcore_v7m.c +++ b/os/ports/IAR/ARMCMx/chcore_v7m.c @@ -28,6 +28,10 @@ #include "ch.h"
+/*===========================================================================*/
+/* Port interrupt handlers. */
+/*===========================================================================*/
+
/**
* @brief System Timer vector.
* @details This interrupt is used as system tick.
@@ -44,4 +48,154 @@ CH_IRQ_HANDLER(SysTickVector) { CH_IRQ_EPILOGUE();
}
+#if !CORTEX_SIMPLIFIED_PRIORITY || defined(__DOXYGEN__)
+/**
+ * @brief SVC vector.
+ * @details The SVC vector is used for exception mode re-entering after a
+ * context switch.
+ * @note The PendSV vector is only used in advanced kernel mode.
+ */
+void SVCallVector(void) {
+ struct extctx *ctxp;
+
+ /* Current PSP value.*/
+ ctxp = (struct extctx *)__get_PSP();
+
+ /* Discarding the current exception context and positioning the stack to
+ point to the real one.*/
+ ctxp++;
+
+#if CORTEX_USE_FPU
+ /* Restoring the special register SCB_FPCCR.*/
+ SCB_FPCCR = (uint32_t)ctxp->fpccr;
+ SCB_FPCAR = SCB_FPCAR + sizeof (struct extctx);
+#endif
+ __set_PSP((unsigned long)ctxp);
+ port_unlock_from_isr();
+}
+#endif /* !CORTEX_SIMPLIFIED_PRIORITY */
+
+#if CORTEX_SIMPLIFIED_PRIORITY || defined(__DOXYGEN__)
+/**
+ * @brief PendSV vector.
+ * @details The PendSV vector is used for exception mode re-entering after a
+ * context switch.
+ * @note The PendSV vector is only used in compact kernel mode.
+ */
+void PendSVVector(void) {
+ struct extctx *ctxp;
+
+ /* Current PSP value.*/
+ ctxp = (struct extctx *)__get_PSP();
+
+ /* Discarding the current exception context and positioning the stack to
+ point to the real one.*/
+ ctxp++;
+
+#if CORTEX_USE_FPU
+ /* Restoring the special register SCB_FPCCR.*/
+ SCB_FPCCR = (uint32_t)ctxp->fpccr;
+ SCB_FPCAR = SCB_FPCAR + sizeof (struct extctx);
+#endif
+ __set_PSP((unsigned long)ctxp);
+}
+#endif /* CORTEX_SIMPLIFIED_PRIORITY */
+
+/*===========================================================================*/
+/* Port exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Port-related initialization code.
+ */
+void _port_init(void) {
+
+ /* Initialization of the vector table and priority related settings.*/
+ SCB_VTOR = CORTEX_VTOR_INIT;
+ SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(0);
+
+#if CORTEX_USE_FPU
+ {
+ uint32_t reg;
+
+ /* Initializing the FPU context save in lazy mode.*/
+ SCB_FPCCR = FPCCR_ASPEN | FPCCR_LSPEN;
+
+ /* CP10 and CP11 set to full access.*/
+ SCB_CPACR |= 0x00F00000;
+
+ /* Enables FPU context save/restore on exception entry/exit (FPCA bit).*/
+ __set_control(__get_control() | 4);
+
+ /* FPSCR and FPDSCR initially zero.*/
+ __set_FPSCR(0);
+ SCB_FPDSCR = 0;
+ }
+#endif
+
+ /* Initialization of the system vectors used by the port.*/
+ nvicSetSystemHandlerPriority(HANDLER_SVCALL,
+ CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL));
+ nvicSetSystemHandlerPriority(HANDLER_PENDSV,
+ CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_PENDSV));
+ nvicSetSystemHandlerPriority(HANDLER_SYSTICK,
+ CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK));
+}
+
+/**
+ * @brief Exception exit redirection to _port_switch_from_isr().
+ */
+void _port_irq_epilogue(void) {
+
+ port_lock_from_isr();
+ if ((SCB_ICSR & ICSR_RETTOBASE) != 0) {
+ struct extctx *ctxp;
+
+ /* Current PSP value.*/
+ ctxp = (struct extctx *)__get_PSP();
+
+ /* Adding an artificial exception return context, there is no need to
+ populate it fully.*/
+ ctxp--;
+ __set_PSP((unsigned long)ctxp);
+ 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 = (regarm_t)_port_switch_from_isr;
+#if CORTEX_USE_FPU
+ /* Triggering a lazy FPU state save.*/
+ (void)__get_FPSCR();
+#endif
+ }
+ else {
+ /* Preemption not required, we just need to exit the exception
+ atomically.*/
+ void _port_exit_from_isr(void);
+ ctxp->pc = (regarm_t)_port_exit_from_isr;
+ }
+
+#if CORTEX_USE_FPU
+ {
+ uint32_t fpccr;
+
+ /* Saving the special register SCB_FPCCR into the reserved offset of
+ the Cortex-M4 exception frame.*/
+ (ctxp + 1)->fpccr = (regarm_t)(fpccr = SCB_FPCCR);
+
+ /* Now the FPCCR is modified in order to not restore the FPU status
+ from the artificial return context.*/
+ SCB_FPCCR = fpccr | FPCCR_LSPACT;
+ }
+#endif
+
+ /* Note, returning without unlocking is intentional, this is done in
+ order to keep the rest of the context switching atomic.*/
+ return;
+ }
+ port_unlock_from_isr();
+}
+
/** @} */
diff --git a/os/ports/IAR/ARMCMx/chcore_v7m.h b/os/ports/IAR/ARMCMx/chcore_v7m.h index 38f77b7eb..b6c44d4ea 100644 --- a/os/ports/IAR/ARMCMx/chcore_v7m.h +++ b/os/ports/IAR/ARMCMx/chcore_v7m.h @@ -39,14 +39,77 @@ #define CORTEX_BASEPRI_DISABLED 0
/*===========================================================================*/
+/* Port macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
/* Port configurable parameters. */
/*===========================================================================*/
/**
+ * @brief Stack size for the system idle thread.
+ * @details This size depends on the idle thread implementation, usually
+ * the idle thread should take no more space than those reserved
+ * by @p PORT_INT_REQUIRED_STACK.
+ * @note In this port it is set to 16 because the idle thread does have
+ * a stack frame when compiling without optimizations. You may
+ * reduce this value to zero when compiling with optimizations.
+ */
+#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
+#define PORT_IDLE_THREAD_STACK_SIZE 16
+#endif
+
+/**
+ * @brief Per-thread stack overhead for interrupts servicing.
+ * @details This constant is used in the calculation of the correct working
+ * area size.
+ * This value can be zero on those architecture where there is a
+ * separate interrupt stack and the stack space between @p intctx and
+ * @p extctx is known to be zero.
+ * @note In this port it is conservatively set to 16 because the function
+ * @p chSchDoReschedule() can have a stack frame, expecially with
+ * compiler optimizations disabled.
+ */
+#if !defined(PORT_INT_REQUIRED_STACK)
+#define PORT_INT_REQUIRED_STACK 16
+#endif
+
+/**
+ * @brief Enables the use of the WFI instruction in the idle thread loop.
+ */
+#if !defined(CORTEX_ENABLE_WFI_IDLE)
+#define CORTEX_ENABLE_WFI_IDLE FALSE
+#endif
+
+/**
+ * @brief SYSTICK handler priority.
+ * @note The default SYSTICK handler priority is calculated as the priority
+ * level in the middle of the numeric priorities range.
+ */
+#if !defined(CORTEX_PRIORITY_SYSTICK)
+#define CORTEX_PRIORITY_SYSTICK (CORTEX_PRIORITY_LEVELS >> 1)
+#elif !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SYSTICK)
+/* If it is externally redefined then better perform a validity check on it.*/
+#error "invalid priority level specified for CORTEX_PRIORITY_SYSTICK"
+#endif
+
+/**
+ * @brief FPU support in context switch.
+ * @details Activating this option activates the FPU support in the kernel.
+ */
+#if !defined(CORTEX_USE_FPU)
+#define CORTEX_USE_FPU CORTEX_HAS_FPU
+#elif CORTEX_USE_FPU && !CORTEX_HAS_FPU
+/* This setting requires an FPU presence check in case it is externally
+ redefined.*/
+#error "the selected core does not have an FPU"
+#endif
+
+/**
* @brief Simplified priority handling flag.
- * @details Activating this option will make the Kernel work in compact mode.
+ * @details Activating this option makes the Kernel work in compact mode.
*/
-#ifndef CORTEX_SIMPLIFIED_PRIORITY
+#if !defined(CORTEX_SIMPLIFIED_PRIORITY)
#define CORTEX_SIMPLIFIED_PRIORITY FALSE
#endif
@@ -57,14 +120,12 @@ * @p CORTEX_MAXIMUM_PRIORITY priority level as fast interrupts
* priority level.
*/
-#ifndef CORTEX_PRIORITY_SVCALL
+#if !defined(CORTEX_PRIORITY_SVCALL)
#define CORTEX_PRIORITY_SVCALL (CORTEX_MAXIMUM_PRIORITY + 1)
-#else
+#elif !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SVCALL)
/* If it is externally redefined then better perform a validity check on it.*/
-#if !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SVCALL)
#error "invalid priority level specified for CORTEX_PRIORITY_SVCALL"
#endif
-#endif
/**
* @brief NVIC VTOR initialization expression.
@@ -119,8 +180,12 @@ #elif (CORTEX_MODEL == CORTEX_M4)
#define CH_ARCHITECTURE_ARM_v7ME
#define CH_ARCHITECTURE_NAME "ARMv7-ME"
+#if CORTEX_USE_FPU
+#define CH_CORE_VARIANT_NAME "Cortex-M4F"
+#else
#define CH_CORE_VARIANT_NAME "Cortex-M4"
#endif
+#endif
/**
* @brief Port-specific information string.
@@ -142,7 +207,18 @@ */
typedef void *regarm_t;
+/**
+ * @brief Stack and memory alignment enforcement.
+ * @note In this architecture the stack alignment is enforced to 64 bits,
+ * 32 bits alignment is supported by hardware but deprecated by ARM,
+ * the implementation choice is to not offer the option.
+ */
+typedef uint64_t stkalign_t;
+
+/* The documentation of the following declarations is in chconf.h in order
+ to not have duplicated structure names into the documentation.*/
#if !defined(__DOXYGEN__)
+
struct extctx {
regarm_t r0;
regarm_t r1;
@@ -152,9 +228,47 @@ struct extctx { regarm_t lr_thd;
regarm_t pc;
regarm_t xpsr;
+#if CORTEX_USE_FPU
+ regarm_t s0;
+ regarm_t s1;
+ regarm_t s2;
+ regarm_t s3;
+ regarm_t s4;
+ regarm_t s5;
+ regarm_t s6;
+ regarm_t s7;
+ regarm_t s8;
+ regarm_t s9;
+ regarm_t s10;
+ regarm_t s11;
+ regarm_t s12;
+ regarm_t s13;
+ regarm_t s14;
+ regarm_t s15;
+ regarm_t fpscr;
+ regarm_t fpccr;
+#endif /* CORTEX_USE_FPU */
};
struct intctx {
+#if CORTEX_USE_FPU
+ regarm_t s16;
+ regarm_t s17;
+ regarm_t s18;
+ regarm_t s19;
+ regarm_t s20;
+ regarm_t s21;
+ regarm_t s22;
+ regarm_t s23;
+ regarm_t s24;
+ regarm_t s25;
+ regarm_t s26;
+ regarm_t s27;
+ regarm_t s28;
+ regarm_t s29;
+ regarm_t s30;
+ regarm_t s31;
+#endif /* CORTEX_USE_FPU */
regarm_t r4;
regarm_t r5;
regarm_t r6;
@@ -165,7 +279,51 @@ struct intctx { regarm_t r11;
regarm_t lr;
};
-#endif
+
+#endif /* !defined(__DOXYGEN__) */
+
+/**
+ * @brief Platform dependent part of the @p Thread structure.
+ * @details In this port the structure just holds a pointer to the @p intctx
+ * structure representing the stack pointer at context switch time.
+ */
+struct context {
+ struct intctx *r13;
+};
+
+/**
+ * @brief Platform dependent part of the @p chThdCreateI() API.
+ * @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 = (regarm_t)pf; \
+ tp->p_ctx.r13->r5 = (regarm_t)arg; \
+ tp->p_ctx.r13->lr = (regarm_t)_port_thread_start; \
+}
+
+/**
+ * @brief Enforces a correct alignment for a stack area size value.
+ */
+#define STACK_ALIGN(n) ((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
+
+/**
+ * @brief Computes the thread working area global size.
+ */
+#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \
+ sizeof(struct intctx) + \
+ sizeof(struct extctx) + \
+ (n) + (PORT_INT_REQUIRED_STACK))
+
+/**
+ * @brief Static working area allocation.
+ * @details This macro is used to allocate a static thread working area
+ * aligned as both position and size.
+ */
+#define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)]
/**
* @brief IRQ prologue code.
@@ -198,16 +356,7 @@ struct intctx { /**
* @brief Port-related initialization code.
*/
-#define port_init() { \
- SCB_VTOR = CORTEX_VTOR_INIT; \
- SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(0); \
- nvicSetSystemHandlerPriority(HANDLER_SVCALL, \
- CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SVCALL)); \
- nvicSetSystemHandlerPriority(HANDLER_PENDSV, \
- CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_PENDSV)); \
- nvicSetSystemHandlerPriority(HANDLER_SYSTICK, \
- CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK)); \
-}
+#define port_init() _port_init()
/**
* @brief Kernel-lock action.
@@ -320,10 +469,28 @@ struct intctx { }
#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);
diff --git a/os/ports/IAR/ARMCMx/chcoreasm_v6m.s b/os/ports/IAR/ARMCMx/chcoreasm_v6m.s index 56e62d16f..fb1cb0fb7 100644 --- a/os/ports/IAR/ARMCMx/chcoreasm_v6m.s +++ b/os/ports/IAR/ARMCMx/chcoreasm_v6m.s @@ -83,35 +83,6 @@ _port_thread_start: bl chThdExit
/*
- * NMI vector.
- * The NMI vector is used for exception mode re-entering after a context
- * switch.
- */
-#if !CORTEX_ALTERNATE_SWITCH
- PUBLIC NMIVector
-NMIVector:
- mrs r3, PSP
- adds r3, r3, #32
- msr PSP, r3
- cpsie i
- bx lr
-#endif
-
-/*
- * PendSV vector.
- * The PendSV vector is used for exception mode re-entering after a context
- * switch.
- */
-#if CORTEX_ALTERNATE_SWITCH
- PUBLIC PendSVVector
-PendSVVector:
- mrs r3, PSP
- adds r3, r3, #32
- msr PSP, r3
- bx lr
-#endif
-
-/*
* Post-IRQ switch code.
* Exception handlers return here for context switching.
*/
@@ -141,24 +112,4 @@ noresch: waithere:
b waithere
-/*
- * Reschedule verification and setup after an IRQ.
- */
- PUBLIC _port_irq_epilogue
-_port_irq_epilogue:
- push {lr}
- adds r0, r0, #15
- beq skipexit
- cpsid i
- mrs r3, PSP
- subs r3, r3, #32
- msr PSP, r3
- ldr r2, =_port_switch_from_isr
- str r2, [r3, #24]
- movs r2, #128
- lsls r2, r2, #17
- str r2, [r3, #28]
-skipexit:
- pop {pc}
-
END
diff --git a/os/ports/IAR/ARMCMx/chcoreasm_v7m.s b/os/ports/IAR/ARMCMx/chcoreasm_v7m.s index 4c40babc5..6c858c52b 100644 --- a/os/ports/IAR/ARMCMx/chcoreasm_v7m.s +++ b/os/ports/IAR/ARMCMx/chcoreasm_v7m.s @@ -39,7 +39,6 @@ ICSR_PENDSVSET SET 0x10000000 SECTION .text:CODE:NOROOT(2)
EXTERN chThdExit
- EXTERN chSchIsPreemptionRequired
EXTERN chSchDoReschedule
#if CH_DBG_SYSTEM_STATE_CHECK
EXTERN dbg_check_unlock
@@ -54,8 +53,14 @@ ICSR_PENDSVSET SET 0x10000000 PUBLIC _port_switch
_port_switch:
push {r4, r5, r6, r7, r8, r9, r10, r11, lr}
+#if CORTEX_USE_FPU
+ vpush {s16-s31}
+#endif
str sp, [r1, #CONTEXT_OFFSET]
ldr sp, [r0, #CONTEXT_OFFSET]
+#if CORTEX_USE_FPU
+ vpop {s16-s31}
+#endif
pop {r4, r5, r6, r7, r8, r9, r10, r11, pc}
/*
@@ -82,17 +87,16 @@ _port_thread_start: * Exception handlers return here for context switching.
*/
PUBLIC _port_switch_from_isr
+ PUBLIC _port_exit_from_isr
_port_switch_from_isr:
#if CH_DBG_SYSTEM_STATE_CHECK
bl dbg_check_lock
#endif
- bl chSchIsPreemptionRequired
- cbz r0, .L2
bl chSchDoReschedule
-.L2:
#if CH_DBG_SYSTEM_STATE_CHECK
bl dbg_check_unlock
#endif
+_port_exit_from_isr:
#if CORTEX_SIMPLIFIED_PRIORITY
mov r3, #LWRD SCB_ICSR
movt r3, #HWRD SCB_ICSR
@@ -104,67 +108,4 @@ _port_switch_from_isr: svc #0
#endif
-/*
- * Reschedule verification and setup after an IRQ.
- */
- PUBLIC _port_irq_epilogue
-_port_irq_epilogue:
-#if CORTEX_SIMPLIFIED_PRIORITY
- cpsid i
-#else
- movs r3, #CORTEX_BASEPRI_KERNEL
- msr BASEPRI, r3
-#endif
- mov r3, #LWRD SCB_ICSR
- movt r3, #HWRD SCB_ICSR
- ldr r3, [r3, #0]
- ands r3, r3, #ICSR_RETTOBASE
- bne .L8
-#if CORTEX_SIMPLIFIED_PRIORITY
- cpsie i
-#else
- /* Note, R3 is already zero.*/
- msr BASEPRI, r3
-#endif
- bx lr
-.L8:
- mrs r3, PSP
- subs r3, r3, #EXTCTX_SIZE
- msr PSP, r3
- ldr r2, =_port_switch_from_isr
- str r2, [r3, #24]
- mov r2, #0x01000000
- str r2, [r3, #28]
- bx lr
-
-/*
- * SVC vector.
- * Discarding the current exception context and positioning the stack to
- * point to the real one.
- */
-#if !CORTEX_SIMPLIFIED_PRIORITY
- PUBLIC SVCallVector
-SVCallVector:
- mrs r3, PSP
- adds r3, r3, #EXTCTX_SIZE
- msr PSP, r3
- movs r3, #CORTEX_BASEPRI_DISABLED
- msr BASEPRI, r3
- bx lr
-#endif
-
-/*
- * PendSV vector.
- * Discarding the current exception context and positioning the stack to
- * point to the real one.
- */
-#if CORTEX_SIMPLIFIED_PRIORITY
- PUBLIC PendSVVector
-PendSVVector:
- mrs r3, PSP
- adds r3, r3, #EXTCTX_SIZE
- msr PSP, r3
- bx lr
-#endif
-
END
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