diff options
Diffstat (limited to 'os/rt/ports/ARMCMx/chcore_v6m.c')
| -rw-r--r-- | os/rt/ports/ARMCMx/chcore_v6m.c | 146 |
1 files changed, 42 insertions, 104 deletions
diff --git a/os/rt/ports/ARMCMx/chcore_v6m.c b/os/rt/ports/ARMCMx/chcore_v6m.c index 04f9c6a83..3a81a0ba4 100644 --- a/os/rt/ports/ARMCMx/chcore_v6m.c +++ b/os/rt/ports/ARMCMx/chcore_v6m.c @@ -16,13 +16,6 @@ You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
-
- ---
-
- A special exception to the GPL can be applied should you wish to distribute
- a combined work that includes ChibiOS/RT, without being obliged to provide
- the source code for any proprietary components. See the file exception.txt
- for full details of how and when the exception can be applied.
*/
/**
@@ -36,24 +29,28 @@ #include "ch.h"
/*===========================================================================*/
-/* Port interrupt handlers. */
+/* Module local definitions. */
/*===========================================================================*/
-/**
- * @brief System Timer vector.
- * @details This interrupt is used as system tick.
- * @note The timer must be initialized in the startup code.
- */
-CH_IRQ_HANDLER(SysTickVector) {
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
- CH_IRQ_PROLOGUE();
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
- chSysLockFromIsr();
- chSysTimerHandlerI();
- chSysUnlockFromIsr();
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
- CH_IRQ_EPILOGUE();
-}
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
#if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
/**
@@ -62,13 +59,18 @@ CH_IRQ_HANDLER(SysTickVector) { * context switch.
*/
void NMIVector(void) {
- register struct extctx *ctxp;
+
+ /* The extctx structure is pointed by the PSP register.*/
+ struct extctx *ctxp = (struct extctx *)__get_PSP();
/* Discarding the current exception context and positioning the stack to
point to the real one.*/
- asm volatile ("mrs %0, PSP" : "=r" (ctxp) : : "memory");
ctxp++;
- asm volatile ("msr PSP, %0" : : "r" (ctxp) : "memory");
+
+ /* Writing back the modified PSP value.*/
+ __set_PSP((uint32_t)ctxp);
+
+ /* Restoring the normal interrupts status.*/
port_unlock_from_isr();
}
#endif /* !CORTEX_ALTERNATE_SWITCH */
@@ -80,18 +82,21 @@ void NMIVector(void) { * context switch.
*/
void PendSVVector(void) {
- register struct extctx *ctxp;
+
+ /* The extctx structure is pointed by the PSP register.*/
+ struct extctx *ctxp = (struct extctx *)__get_PSP();
/* Discarding the current exception context and positioning the stack to
point to the real one.*/
- asm volatile ("mrs %0, PSP" : "=r" (ctxp) : : "memory");
ctxp++;
- asm volatile ("msr PSP, %0" : : "r" (ctxp) : "memory");
+
+ /* Writing back the modified PSP value.*/
+ __set_PSP((uint32_t)ctxp);
}
#endif /* CORTEX_ALTERNATE_SWITCH */
/*===========================================================================*/
-/* Port exported functions. */
+/* Module exported functions. */
/*===========================================================================*/
/**
@@ -102,14 +107,21 @@ void PendSVVector(void) { void _port_irq_epilogue(regarm_t lr) {
if (lr != (regarm_t)0xFFFFFFF1) {
- register struct extctx *ctxp;
+ struct extctx *ctxp;
port_lock_from_isr();
+
+ /* The extctx structure is pointed by the PSP register.*/
+ ctxp = (struct extctx *)__get_PSP();
+
/* 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");
+
+ /* Writing back the modified PSP value.*/
+ __set_PSP((uint32_t)ctxp);
+
+ /* Setting up a fake XPSR register value.*/
ctxp->xpsr = (regarm_t)0x01000000;
/* The exit sequence is different depending on if a preemption is
@@ -129,78 +141,4 @@ void _port_irq_epilogue(regarm_t lr) { }
}
-/**
- * @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
- * preemption.
- */
-#if !defined(__DOXYGEN__)
-__attribute__((naked))
-#endif
-void _port_switch_from_isr(void) {
-
- dbg_check_lock();
- chSchDoReschedule();
- dbg_check_unlock();
- asm volatile ("_port_exit_from_isr:" : : : "memory");
-#if CORTEX_ALTERNATE_SWITCH
- SCB_ICSR = ICSR_PENDSVSET;
- port_unlock();
-#else
- SCB_ICSR = ICSR_NMIPENDSET;
-#endif
- /* The following loop should never be executed, the exception will kick in
- immediately.*/
- while (TRUE)
- ;
-}
-
-/**
- * @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
- */
-#if !defined(__DOXYGEN__)
-__attribute__((naked))
-#endif
-void _port_switch(Thread *ntp, Thread *otp) {
- register struct intctx *r13 asm ("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;
-
- 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" (r13) : "memory");
-}
-
-/**
- * @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) {
-
- chSysUnlock();
- asm volatile ("mov r0, r5 \n\t"
- "blx r4 \n\t"
- "bl chThdExit");
-}
-
/** @} */
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