From 5df4a20cbbfd99054582c127963ff0671d9eac62 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Thu, 2 Jun 2011 12:05:56 +0000
Subject: Alternate preemption mode implemented in ARMv6-M GCC port.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3011 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 os/ports/GCC/ARMCMx/chcore_v6m.c | 26 +++++++++++++++++++++++++-
 os/ports/GCC/ARMCMx/chcore_v6m.h | 18 ++++++++++++++++++
 2 files changed, 43 insertions(+), 1 deletion(-)

(limited to 'os')

diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.c b/os/ports/GCC/ARMCMx/chcore_v6m.c
index 3574c620f..18082e86f 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.c
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.c
@@ -44,6 +44,7 @@ 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
@@ -59,6 +60,24 @@ void NMIVector(void) {
   asm volatile ("msr     PSP, %0" : : "r" (ctxp) : "memory");
   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.*/
+  asm volatile ("mrs     %0, PSP" : "=r" (ctxp) : : "memory");
+  ctxp++;
+  asm volatile ("msr     PSP, %0" : : "r" (ctxp) : "memory");
+}
+#endif /* CORTEX_ALTERNATE_SWITCH */
 
 /**
  * @brief   Post-IRQ switch code.
@@ -72,8 +91,13 @@ __attribute__((naked))
 void _port_switch_from_isr(void) {
 
   chSchDoRescheduleI();
+#if CORTEX_ALTERNATE_SWITCH
+  SCB_ICSR = ICSR_PENDSVSET;
+  port_unlock();
+#else
   SCB_ICSR = ICSR_NMIPENDSET;
-  /* The following loop should never be executed, the NMI will kick in
+#endif
+  /* The following loop should never be executed, the exception will kick in
      immediately.*/
   while (TRUE)
     ;
diff --git a/os/ports/GCC/ARMCMx/chcore_v6m.h b/os/ports/GCC/ARMCMx/chcore_v6m.h
index e6aeabc2d..2141ee468 100644
--- a/os/ports/GCC/ARMCMx/chcore_v6m.h
+++ b/os/ports/GCC/ARMCMx/chcore_v6m.h
@@ -45,6 +45,15 @@
 /* Port configurable parameters.                                             */
 /*===========================================================================*/
 
+/**
+ * @brief   Alternate preemption method.
+ * @details Activating this option will make the Kernel use the PendSV
+ *          handler for preemption instead of the NMI handler.
+ */
+#ifndef CORTEX_ALTERNATE_SWITCH
+#define CORTEX_ALTERNATE_SWITCH         FALSE
+#endif
+
 /*===========================================================================*/
 /* Port derived parameters.                                                  */
 /*===========================================================================*/
@@ -72,6 +81,15 @@
 #define CH_CORE_VARIANT_NAME            "Cortex-M1"
 #endif
 
+/**
+ * @brief   Port-specific information string.
+ */
+#if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
+#define CH_PORT_INFO                    "Preemption through NMI"
+#else
+#define CH_PORT_INFO                    "Preemption through PendSV"
+#endif
+
 /*===========================================================================*/
 /* Port implementation part.                                                 */
 /*===========================================================================*/
-- 
cgit v1.2.3