git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@594 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 117 insertions, 75 deletions

diff --git a/ports/ARMCM3/chcore.c b/ports/ARMCM3/chcore.c
index 7110035f1..6b4811904 100644
--- a/ports/ARMCM3/chcore.c
+++ b/ports/ARMCM3/chcore.c
@@ -39,7 +39,7 @@ void sys_puts(char *msg) {
 void sys_halt(void) {

 

   asm volatile ("cpsid   i");

-  while(TRUE) {

+  while (TRUE) {

   }

 }

 

diff --git a/ports/MSP430/chcore.c b/ports/MSP430/chcore.c
index dc340f9c9..e9a5dc574 100644
--- a/ports/MSP430/chcore.c
+++ b/ports/MSP430/chcore.c
@@ -17,70 +17,31 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.

 */

 

-#include <ch.h>

-

-/**

- * This function implements the idle thread infinite loop. The function should

- * put the processor in the lowest power mode capable to serve interrupts.

- * The priority is internally set to the minimum system value so that this

- * thread is executed only if there are no other ready threads in the system.

- */

-void _idle(void *p) {

-

-  while (TRUE)

-    ;

-}

-

 /**

- * Abonormal system termination handler. Invoked by the ChibiOS/RT when an

- * abnormal unrecoverable condition is met.

+ * @addtogroup MSP430_CORE

+ * @{

  */

-void chSysHalt(void) {

-

-  chSysLock();

 

-  while (TRUE)

-    ;

-}

+#include <ch.h>

 

-/**

- * Context switch.

+/*

+ * This file is a template of the system driver functions provided by a port.

+ * Some of the following functions may be implemented as macros in chcore.h if

+ * the implementer decides that there is an advantage in doing so, as example

+ * because performance concerns.

  */

-__attribute__((naked))

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

-  register struct intctx *sp asm("r1");

 

-  asm volatile ("push    r11                                    \n\t" \

-                "push    r10                                    \n\t" \

-                "push    r9                                     \n\t" \

-                "push    r8                                     \n\t" \

-                "push    r7                                     \n\t" \

-                "push    r6                                     \n\t" \

-                "push    r6                                     \n\t" \

-                "push    r4");

-  otp->p_ctx.sp = sp;

-  sp = ntp->p_ctx.sp;

-  asm volatile ("pop     r4                                     \n\t" \

-                "pop     r5                                     \n\t" \

-                "pop     r6                                     \n\t" \

-                "pop     r7                                     \n\t" \

-                "pop     r8                                     \n\t" \

-                "pop     r9                                     \n\t" \

-                "pop     r10                                    \n\t" \

-                "pop     r11                                    \n\t" \

-                "ret" : : "r" (sp));

+void sys_puts(char *msg) {

 }

 

-/**

- * Prints a message on the system console (if any).

- */

-void chSysPuts(char *msg) {

+void sys_switch(Thread *otp, Thread *ntp) {

 }

 

-void threadstart(void) {

+void sys_halt(void) {

 

-  asm volatile ("eint                                           \n\t" \

-                "mov     r11, r15                               \n\t" \

-                "call    r10                                    \n\t" \

-                "call    #chThdExit");

+  sys_disable();

+  while (TRUE) {

+  }

 }

+

+/** @} */

diff --git a/ports/MSP430/chcore.h b/ports/MSP430/chcore.h
index bf8e0d82d..db0d25f77 100644
--- a/ports/MSP430/chcore.h
+++ b/ports/MSP430/chcore.h
@@ -17,6 +17,11 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.

 */

 

+/**

+ * @addtogroup MSP430_CORE

+ * @{

+ */

+

 #ifndef _CHCORE_H_

 #define _CHCORE_H_

 

@@ -24,21 +29,28 @@
 #include <msp430/common.h>

 

 /*

+ * Port-related configuration parameters.

+ */

+#ifndef ENABLE_WFI_IDLE

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

+#endif

+

+/**

  * Macro defining the MSP430 architecture.

  */

 #define CH_ARCHITECTURE_MSP430

 

-/*

+/**

  * 16 bit stack alignment.

  */

 typedef uint16_t stkalign_t;

 

-/*

+/**

  * Generic MSP430 register.

  */

 typedef void *regmsp_t;

 

-/*

+/**

  * Interrupt saved context.

  */

 struct extctx {

@@ -50,8 +62,9 @@ struct extctx {
   regmsp_t      pc;

 };

 

-/*

+/**

  * System saved context.

+ * This structure represents the inner stack frame during a context switching.

  */

 struct intctx {

   regmsp_t      r4;

@@ -62,14 +75,21 @@ struct intctx {
   regmsp_t      r9;

   regmsp_t      r10;

   regmsp_t      r11;

-//  regmsp_t      sr;

   regmsp_t      pc;

 };

 

+/**

+ * Platform dependent part of the @p Thread structure.

+ * In the MSP430 port this structure just holds a pointer to the @p intctx

+ * structure representing the stack pointer at the time of the context switch.

+ */

 typedef struct {

   struct intctx *sp;

 } Context;

 

+/**

+ * Platform dependent part of the @p chThdInit() API.

+ */

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

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

                                    wsize -                              \

@@ -79,42 +99,103 @@ typedef struct {
   tp->p_ctx.sp->pc = threadstart;                                       \

 }

 

+/**

+ * The default idle thread implementation requires no extra stack space in

+ * this port.

+ */

+#ifndef IDLE_THREAD_STACK_SIZE

 #define IDLE_THREAD_STACK_SIZE 0

+#endif

 

+/**

+ * Per-thread stack overhead for interrupts servicing, it is used in the

+ * calculation of the correct working area size. In this port the default is

+ * 32 bytes per thread.

+ */

 #ifndef INT_REQUIRED_STACK

 #define INT_REQUIRED_STACK 32

 #endif

 

+/**

+ * Enforces a correct alignment for a stack area size value.

+ */

 #define STACK_ALIGN(n) ((((n) - 1) | sizeof(stkalign_t)) + 1)

 

+ /**

+  * Computes the thread working area global size.

+  */

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

                                    sizeof(struct intctx) +              \

                                    sizeof(struct extctx) +              \

-                                   (n) +                                \

-                                   INT_REQUIRED_STACK)

+                                  (n) + (INT_REQUIRED_STACK))

 

+/**

+ * Macro used to allocate a thread working area aligned as both position and

+ * size.

+ */

 #define WORKING_AREA(s, n) stkalign_t s[THD_WA_SIZE(n) / sizeof(stkalign_t)];

 

-#define chSysLock() asm volatile ("dint")

-#define chSysUnlock() asm volatile ("eint")

-#define chSysEnable() asm volatile ("eint")

+/**

+ * IRQ prologue code, inserted at the start of all IRQ handlers enabled to

+ * invoke system APIs.
+ */

+#define SYS_IRQ_PROLOGUE()

 

-#define chSysIRQEnterI()

-#define chSysIRQExitI() {                                               \

-  if (chSchRescRequiredI())                                             \

-    chSchDoRescheduleI();                                               \

+/**

+ * IRQ epilogue code, inserted at the end of all IRQ handlers enabled to

+ * invoke system APIs.

+ */

+#define SYS_IRQ_EPILOGUE() {                                            \

+if (chSchRescRequiredI())                                               \

+  chSchDoRescheduleI();                                                 \

+}

+

+/**

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

+ */

+#define sys_disable() asm volatile ("dint")

+

+/**

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

+ */

+#define sys_enable() asm volatile ("eint")

+

+/**

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

+ */

+#define sys_disable_from_isr() sys_disable()

+

+/**

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

+ */

+#define sys_enable_from_isr() sys_enable()

+

+#if ENABLE_WFI_IDLE != 0

+/**

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

+ */

+#define sys_wait_for_interrupt() {                                      \

+  asm volatile ("wfi");                                                 \

 }

+#else

+#define sys_wait_for_interrupt()

+#endif

+

+/**

+ * IRQ handler function modifier.
+ */

+#define SYS_IRQ_HANDLER

 

 #ifdef __cplusplus

 extern "C" {

 #endif

-  void _idle(void *p) __attribute__((weak, noreturn));

-  void chSysHalt(void);

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

-  void chSysPuts(char *msg);

-  void threadstart(void);

+  void sys_puts(char *msg);

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

+  void sys_halt(void);

 #ifdef __cplusplus

 }

 #endif

 

 #endif /* _CHCORE_H_ */

+

+/** @} */