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/*
ChibiOS/RT - Copyright (C) 2006-2007 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/>.
*/
#include "stm32lib/stm32f10x_map.h"
#include <ch.h>
/*
* System idle thread loop.
*/
void _IdleThread(void *p) {
while (TRUE) {
}
}
/*
* System console message (not implemented).
*/
void chSysPuts(char *msg) {
}
/*
* Context switch.
*/
void chSysSwitchI(Thread *otp, Thread *ntp) {
register struct intctx * volatile sp asm("sp"); /* Don't ask... */
#ifdef CH_CURRP_REGISTER_CACHE
asm ("" : : : "r4", "r5", "r6", "r8", "r9", "r10", "r11", "lr");
#else
asm ("" : : : "r4", "r5", "r6", "r7", "r8", "r9", "r10", "r11", "lr");
#endif
otp->p_ctx.r13 = sp;
sp = ntp->p_ctx.r13;
}
/*
* System halt.
*/
__attribute__((naked, weak))
void chSysHalt(void) {
while (TRUE) {
}
}
__attribute__((naked, weak))
void threadstart(void) {
chSysUnlock();
asm volatile ("mov r0, r5 \n\t" \
"blx r4 \n\t" \
"bl chThdExit ");
}
void *retaddr;
/*
* System Timer vector.
*/
void SysTickVector(void) {
chSysIRQEnterI();
chSysTimerHandlerI();
chSysIRQExitI();
}
/*
* To be invoked at the end of any interrupt handler that can trigger a
* reschedule.
*/
void chSysIRQExitI(void) {
chSysLock();
if (SCB->ICSR & (1 << 11)) { /* RETTOBASE */
if (chSchRescRequiredI()) {
asm volatile ("mrs r0, PSP \n\t" \
"ldr r1, =retaddr \n\t" \
"ldr r2, [r0, #18] \n\t" \
"str r2, [r1] \n\t" \
"ldr r1, =threadswitch \n\t" \
"str r1, [r0, #18] ");
return; /* Note, returns *without* re-enabling interrupts.*/
}
}
chSysUnlock();
}
/*
* This code is execute in thread mode when exiting from an ISR routine that
* requires rescheduling.
*/
__attribute__((naked, weak))
void threadswitch(void) {
asm volatile ("sub sp, sp, #4 \n\t" \
"push {r0-r3, r12, lr} \n\t" \
"mrs r0, XPSR \n\t" \
"push {r0} \n\t" \
"ldr r0, =retaddr \n\t" \
"str r0, [sp, #28] \n\t" \
"b chSchDoRescheduleI \n\t" \
"pop {r0} \n\t" \
"msr XPSR, r0 \n\t" \
"pop {r0-r3, r12, lr} \n\t" \
"cpsie i \n\t" \
"pop {pc} ");
}
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