Fixed bug #512.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@6997 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 29 insertions, 41 deletions

diff --git a/os/rt/ports/ARMCMx/chcore_v7m.c b/os/rt/ports/ARMCMx/chcore_v7m.c
index 29add3fb1..518d162b9 100644
--- a/os/rt/ports/ARMCMx/chcore_v7m.c
+++ b/os/rt/ports/ARMCMx/chcore_v7m.c
@@ -60,21 +60,21 @@
  * @note    The PendSV vector is only used in advanced kernel mode.

  */

 void SVC_Handler(void) {

+  struct port_extctx *ctxp;

+

+#if CORTEX_USE_FPU

+  /* Enforcing unstacking of the FP part of the context.*/

+  SCB_FPCCR &= ~FPCCR_LSPACT;

+#endif

 

   /* The port_extctx structure is pointed by the PSP register.*/

-  struct port_extctx *ctxp = (struct port_extctx *)__get_PSP();

+  ctxp = (struct port_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 FPCCR.*/

-  FPU->FPCCR = (uint32_t)ctxp->fpccr;

-  FPU->FPCAR = FPU->FPCAR + sizeof (struct port_extctx);

-#endif

-

-  /* Writing back the modified PSP value.*/

+  /* Restoring real position of the original stack frame.*/

   __set_PSP((uint32_t)ctxp);

 

   /* Restoring the normal interrupts status.*/

@@ -90,20 +90,20 @@ void SVC_Handler(void) {
  * @note    The PendSV vector is only used in compact kernel mode.

  */

 void PendSV_Handler(void) {

+  struct port_extctx *ctxp;

+

+#if CORTEX_USE_FPU

+  /* Enforcing unstacking of the FP part of the context.*/

+  SCB_FPCCR &= ~FPCCR_LSPACT;

+#endif

 

   /* The port_extctx structure is pointed by the PSP register.*/

-  struct port_extctx *ctxp = (struct port_extctx *)__get_PSP();

+  ctxp = (struct port_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 FPCCR.*/

-  FPU->FPCCR = (uint32_t)ctxp->fpccr;

-  FPU->FPCAR = FPU->FPCAR + sizeof (struct port_extctx);

-#endif

-

   /* Writing back the modified PSP value.*/

   __set_PSP((uint32_t)ctxp);

 }

@@ -120,29 +120,31 @@ void _port_irq_epilogue(void) {
 

   port_lock_from_isr();

   if ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0) {

+    struct port_extctx *ctxp;

+

+#if CORTEX_USE_FPU

+      /* Enforcing a lazy FPU state save by accessing the FPCSR register.*/

+      (void) __get_FPSCR();

+#endif

 

     /* The port_extctx structure is pointed by the PSP register.*/

-    struct port_extctx *ctxp = (struct port_extctx *)__get_PSP();

+    ctxp = (struct port_extctx *)__get_PSP();

 

     /* Adding an artificial exception return context, there is no need to

        populate it fully.*/

     ctxp--;

 

-    /* Writing back the modified PSP value.*/

-    __set_PSP((uint32_t)ctxp);

-

     /* Setting up a fake XPSR register value.*/

     ctxp->xpsr = (regarm_t)0x01000000;

 

+    /* Writing back the modified PSP value.*/

+    __set_PSP((uint32_t)ctxp);

+

     /* 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

-      /* Enforcing a lazy FPU state save by accessing the FPCSR register.*/

-      (void) __get_FPSCR();

-#endif

     }

     else {

       /* Preemption not required, we just need to exit the exception

@@ -150,20 +152,6 @@ void _port_irq_epilogue(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 = FPU->FPCCR);

-

-      /* Now the FPCCR is modified in order to not restore the FPU status

-         from the artificial return context.*/

-      FPU->FPCCR = fpccr | FPU_FPCCR_LSPACT_Msk;

-    }

-#endif

-

     /* Note, returning without unlocking is intentional, this is done in

        order to keep the rest of the context switch atomic.*/

     return;

diff --git a/os/rt/ports/ARMCMx/chcore_v7m.h b/os/rt/ports/ARMCMx/chcore_v7m.h
index da24783e7..9dc1a5e92 100644
--- a/os/rt/ports/ARMCMx/chcore_v7m.h
+++ b/os/rt/ports/ARMCMx/chcore_v7m.h
@@ -238,7 +238,7 @@ struct port_extctx {
   regarm_t      s14;

   regarm_t      s15;

   regarm_t      fpscr;

-  regarm_t      fpccr;

+  regarm_t      reserved;

 #endif /* CORTEX_USE_FPU */

 };

 

@@ -396,12 +396,12 @@ static inline void port_init(void) {
  * @return              The interrupts status.

  */

 static inline syssts_t port_get_irq_status(void) {

-  syssts_t sts;

+  uint32_t sts;

 

 #if !CORTEX_SIMPLIFIED_PRIORITY

-  sts = (syssts_t)__get_BASEPRI();

+  sts = __get_BASEPRI();

 #else /* CORTEX_SIMPLIFIED_PRIORITY */

-  sts = (syssts_t)__get_PRIMASK();

+  sts = __get_PRIMASK();

 #endif /* CORTEX_SIMPLIFIED_PRIORITY */

   return sts;

 }