From 58ab6d53dd54635ef8d53166234c192312bb6854 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Fri, 22 Feb 2008 10:53:47 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@201 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- demos/ARM7-AT91SAM7X-GCC/Makefile | 6 +- demos/ARM7-AT91SAM7X-GCC/Makefile.thumb | 6 +- demos/ARM7-AT91SAM7X-GCC/board.c | 3 +- ports/ARM7-AT91SAM7X/GCC/chcore.c | 188 +------------------------- ports/ARM7-AT91SAM7X/GCC/chcore.h | 128 ------------------ ports/ARM7-AT91SAM7X/GCC/chtypes.h | 47 ------- ports/ARM7-AT91SAM7X/GCC/crt0.s | 6 - ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c | 1 + ports/ARM7/chcore.h | 132 +++++++++++++++++++ ports/ARM7/chsys.s | 225 ++++++++++++++++++++++++++++++++ ports/ARM7/chtypes.h | 47 +++++++ 11 files changed, 418 insertions(+), 371 deletions(-) delete mode 100644 ports/ARM7-AT91SAM7X/GCC/chcore.h delete mode 100644 ports/ARM7-AT91SAM7X/GCC/chtypes.h create mode 100644 ports/ARM7/chcore.h create mode 100644 ports/ARM7/chsys.s create mode 100644 ports/ARM7/chtypes.h diff --git a/demos/ARM7-AT91SAM7X-GCC/Makefile b/demos/ARM7-AT91SAM7X-GCC/Makefile index b419f525f..9c2006fe2 100644 --- a/demos/ARM7-AT91SAM7X-GCC/Makefile +++ b/demos/ARM7-AT91SAM7X-GCC/Makefile @@ -78,10 +78,11 @@ ASRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c \ TSRC = # List ASM source files here -ASMSRC = ../../ports/ARM7-AT91SAM7X/GCC/crt0.s +ASMSRC = ../../ports/ARM7-AT91SAM7X/GCC/crt0.s ../../ports/ARM7/chsys.s # List all user directories here -UINCDIR = ../../src/include ../../src/lib ../../ports/ARM7-AT91SAM7X/GCC +UINCDIR = ../../src/include ../../src/lib \ + ../../ports/ARM7 ../../ports/ARM7-AT91SAM7X/GCC # List the user directory to look for the libraries here ULIBDIR = @@ -130,6 +131,7 @@ ODFLAGS = -x --syms # Thumb interwork enabled only if needed because it kills performance. ifneq ($(TSRC),) CPFLAGS += -D THUMB_PRESENT + ASFLAGS += -D THUMB_PRESENT ifneq ($(ASRC),) # Mixed ARM and THUMB case. CPFLAGS += -mthumb-interwork diff --git a/demos/ARM7-AT91SAM7X-GCC/Makefile.thumb b/demos/ARM7-AT91SAM7X-GCC/Makefile.thumb index bb33297ca..5dd2f33c6 100644 --- a/demos/ARM7-AT91SAM7X-GCC/Makefile.thumb +++ b/demos/ARM7-AT91SAM7X-GCC/Makefile.thumb @@ -78,10 +78,11 @@ TSRC = ../../ports/ARM7-AT91SAM7X/GCC/chcore.c \ board.c main.c # List ASM source files here -ASMSRC = ../../ports/ARM7-AT91SAM7X/GCC/crt0.s +ASMSRC = ../../ports/ARM7-AT91SAM7X/GCC/crt0.s ../../ports/ARM7/chsys.s # List all user directories here -UINCDIR = ../../src/include ../../src/lib ../../ports/ARM7-AT91SAM7X/GCC +UINCDIR = ../../src/include ../../src/lib \ + ../../ports/ARM7 ../../ports/ARM7-AT91SAM7X/GCC # List the user directory to look for the libraries here ULIBDIR = @@ -130,6 +131,7 @@ ODFLAGS = -x --syms # Thumb interwork enabled only if needed because it kills performance. ifneq ($(TSRC),) CPFLAGS += -D THUMB_PRESENT + ASFLAGS += -D THUMB_PRESENT ifneq ($(ASRC),) # Mixed ARM and THUMB case. CPFLAGS += -mthumb-interwork diff --git a/demos/ARM7-AT91SAM7X-GCC/board.c b/demos/ARM7-AT91SAM7X-GCC/board.c index 8d0851329..236e1100e 100644 --- a/demos/ARM7-AT91SAM7X-GCC/board.c +++ b/demos/ARM7-AT91SAM7X-GCC/board.c @@ -30,7 +30,7 @@ static void SpuriousHandler(void) { chSysIRQEnterI(); - AT91C_BASE_AIC->AIC_EOICR = (AT91_REG)AT91C_BASE_AIC; + AT91C_BASE_AIC->AIC_EOICR = 0; chSysIRQExitI(); } @@ -47,6 +47,7 @@ static void SYSIrqHandler(void) { (void) AT91C_BASE_PITC->PITC_PIVR; chSysTimerHandlerI(); } + AT91C_BASE_AIC->AIC_EOICR = 0; \ chSysIRQExitI(); } diff --git a/ports/ARM7-AT91SAM7X/GCC/chcore.c b/ports/ARM7-AT91SAM7X/GCC/chcore.c index 80004fb25..053cc4831 100644 --- a/ports/ARM7-AT91SAM7X/GCC/chcore.c +++ b/ports/ARM7-AT91SAM7X/GCC/chcore.c @@ -33,194 +33,12 @@ void _IdleThread(void *p) { } } -/* - * The following functions are present only if there is in the system any - * code compiled as THUMB that may invoke them. - * NOTE: The undefs are there in case this module is compiled in ARM mode but - * there are THUMB modules in the system. - */ -#ifdef THUMB_PRESENT -#undef chSysLock -void chSysLock(void) { - -#ifdef THUMB - asm(".p2align 2,, \n\t" \ - "mov r0, pc \n\t" \ - "bx r0 \n\t" \ - ".code 32 \n\t"); -#endif - - asm("msr CPSR_c, #0x9F \n\t" \ - "bx lr \n\t"); -} - -#undef chSysUnlock -void chSysUnlock(void) { - -#ifdef THUMB - asm(".p2align 2,, \n\t" \ - "mov r0, pc \n\t" \ - "bx r0 \n\t" \ - ".code 32 \n\t"); -#endif - - asm("msr CPSR_c, #0x1F \n\t" \ - "bx lr \n\t"); -} -#endif - -void chSysSwitchI(Thread *otp, Thread *ntp) { - -#ifdef THUMB - asm(".p2align 2,, \n\t" \ - "mov r2, pc \n\t" \ - "bx r2 \n\t" \ - ".code 32 \n\t"); -#endif - -#ifdef CH_CURRP_REGISTER_CACHE - asm("stmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} \n\t" \ - "str sp, [r0, #16] \n\t" \ - "ldr sp, [r1, #16] \n\t"); -#ifdef THUMB_PRESENT - asm("ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} \n\t" \ - "bx lr \n\t"); -#else /* !THUMB_PRESENT */ - asm("ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, pc} \n\t"); -#endif /* !THUMB_PRESENT */ -#else /* !CH_CURRP_REGISTER_CACHE */ - asm("stmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} \n\t" \ - "str sp, [r0, #16] \n\t" \ - "ldr sp, [r1, #16] \n\t"); -#ifdef THUMB_PRESENT - asm("ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} \n\t" \ - "bx lr \n\t"); -#else /* !THUMB_PRESENT */ - asm("ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, pc} \n\t"); -#endif /* !THUMB_PRESENT */ -#endif /* !CH_CURRP_REGISTER_CACHE */ -} - /* * System console message (not implemented). */ void chSysPuts(char *msg) { } -/* - * Common IRQ exit code, \p chSysIRQExitI() just jumps here. - * - * System stack frame structure after a context switch in the - * interrupt handler: - * - * High +------------+ - * | LR_USR | -+ - * | R12 | | - * | R3 | | - * | R2 | | External context: IRQ handler frame - * | R1 | | - * | R0 | | - * | LR_IRQ | | (user code return address) - * | SPSR | -+ (user code status) - * | .... | <- chSchDoRescheduleI() stack frame, optimize it for space - * | LR | -+ (system code return address) - * | R11 | | - * | R10 | | - * | R9 | | - * | R8 | | Internal context: chSysSwitchI() frame - * | (R7) | | (optional, see CH_CURRP_REGISTER_CACHE) - * | R6 | | - * | R5 | | - * SP-> | R4 | -+ - * Low +------------+ - */ -__attribute__((naked, weak)) -void IrqCommon(void) { - register BOOL b asm("r0"); - - AT91C_BASE_AIC->AIC_EOICR = (AT91_REG)AT91C_BASE_AIC; - b = chSchRescRequiredI(); -#ifdef THUMB - asm(".p2align 2,, \n\t" \ - "mov lr, pc \n\t" \ - "bx lr \n\t" \ - ".code 32 \n\t"); -#endif - /* - * If a reschedulation is not required then just returns from the IRQ. - */ - asm("cmp r0, #0 \n\t" \ - "ldmeqfd sp!, {r0-r3, r12, lr} \n\t" \ - "subeqs pc, lr, #4 \n\t"); - /* - * Reschedulation required, saves the external context on the - * system/user stack and empties the IRQ stack. - */ - asm(".set MODE_IRQ, 0x12 \n\t" \ - ".set MODE_SYS, 0x1F \n\t" \ - ".set F_BIT, 0x40 \n\t" \ - ".set I_BIT, 0x80 \n\t" \ - "ldmfd sp!, {r0-r3, r12, lr} \n\t" \ - "msr CPSR_c, #MODE_SYS | I_BIT \n\t" \ - "stmfd sp!, {r0-r3, r12, lr} \n\t" \ - "msr CPSR_c, #MODE_IRQ | I_BIT \n\t" \ - "mrs r0, SPSR \n\t" \ - "mov r1, lr \n\t" \ - "msr CPSR_c, #MODE_SYS | I_BIT \n\t" \ - "stmfd sp!, {r0, r1} \n\t"); - -#ifdef THUMB_NO_INTERWORKING - asm("add r0, pc, #1 \n\t" \ - "bx r0 \n\t" \ - ".code 16 \n\t" \ - "bl chSchDoRescheduleI \n\t" \ - ".p2align 2,, \n\t" \ - "mov lr, pc \n\t" \ - "bx lr \n\t" \ - ".code 32 \n\t"); -#else - asm("bl chSchDoRescheduleI \n\t"); -#endif - - /* - * Restores the external context. - */ - asm("ldmfd sp!, {r0, r1} \n\t" \ - "msr CPSR_c, #MODE_IRQ | I_BIT \n\t" \ - "msr SPSR_fsxc, r0 \n\t" \ - "mov lr, r1 \n\t" \ - "msr CPSR_c, #MODE_SYS | I_BIT \n\t" \ - "ldmfd sp!, {r0-r3, r12, lr} \n\t" \ - "msr CPSR_c, #MODE_IRQ | I_BIT \n\t" \ - "subs pc, lr, #4 \n\t"); - - /* - * Threads entry/exit code. It is declared weak so you can easily replace it. - * NOTE: It is always invoked in ARM mode, it does the mode switching. - * NOTE: It is included into IrqCommon to make sure the symbol refers to - * 32 bit code. - */ - asm(".weak threadstart \n\t" \ - ".globl threadstart \n\t" \ - "threadstart: \n\t" \ - "msr CPSR_c, #MODE_SYS \n\t"); -#ifndef THUMB_NO_INTERWORKING - asm("mov r0, r5 \n\t" \ - "mov lr, pc \n\t" \ - "bx r4 \n\t" \ - "bl chThdExit \n\t"); -#else - asm("add r0, pc, #1 \n\t" \ - "bx r0 \n\t" \ - ".code 16 \n\t" \ - "mov r0, r5 \n\t" \ - "bl jmpr4 \n\t" \ - "bl chThdExit \n\t" \ - "jmpr4: \n\t" \ - "bx r4 \n\t"); -#endif -} - /* * System halt. */ @@ -228,8 +46,8 @@ __attribute__((naked, weak)) void chSysHalt(void) { #ifdef THUMB - asm("ldr r0, =_halt32 \n\t" \ - "bx r0 \n\t"); + asm("b _halt16"); +#else + asm("b _halt32"); #endif - asm("b _halt32 \n\t"); } diff --git a/ports/ARM7-AT91SAM7X/GCC/chcore.h b/ports/ARM7-AT91SAM7X/GCC/chcore.h deleted file mode 100644 index 8f3e7f4be..000000000 --- a/ports/ARM7-AT91SAM7X/GCC/chcore.h +++ /dev/null @@ -1,128 +0,0 @@ -/* - 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 . -*/ - -#ifndef _CHCORE_H_ -#define _CHCORE_H_ - -typedef void *regarm; - -/* - * Interrupt saved context. - */ -struct extctx { - regarm spsr_irq; - regarm lr_irq; - regarm r0; - regarm r1; - regarm r2; - regarm r3; - regarm r12; -}; - -/* - * System saved context. - */ -struct intctx { - regarm r4; - regarm r5; - regarm r6; -#ifndef CH_CURRP_REGISTER_CACHE - regarm r7; -#endif - regarm r8; - regarm r9; - regarm r10; - regarm r11; - regarm lr; -}; - -/* - * Port dependent part of the Thread structure, you may add fields in - * this structure. - */ -typedef struct { - struct intctx *r13; -} Context; - -/* - * Platform dependent part of the \p chThdCreate() API. - */ -#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ - tp->p_ctx.r13 = (struct intctx *)((BYTE8 *)workspace + \ - wsize - \ - sizeof(struct intctx)); \ - tp->p_ctx.r13->r4 = pf; \ - tp->p_ctx.r13->r5 = arg; \ - tp->p_ctx.r13->lr = threadstart; \ -} - -#ifdef THUMB -extern void chSysLock(void); -extern void chSysUnlock(void); -#else /* !THUMB */ -#define chSysLock() asm("msr CPSR_c, #0x9F") -#define chSysUnlock() asm("msr CPSR_c, #0x1F") -#endif /* THUMB */ - -#ifdef THUMB -#define INT_REQUIRED_STACK 0x10 -#else /* !THUMB */ -#define INT_REQUIRED_STACK 0 -#endif /* !THUMB */ -#define StackAlign(n) ((((n) - 1) | 3) + 1) -#define UserStackSize(n) StackAlign(sizeof(Thread) + \ - sizeof(struct intctx) + \ - sizeof(struct extctx) + \ - (n) + \ - INT_REQUIRED_STACK) -#define WorkingArea(s, n) ULONG32 s[UserStackSize(n) >> 2]; - -#ifdef THUMB -#define chSysIRQEnterI() { \ - asm(".code 32 \n\t" \ - "stmfd sp!, {r0-r3, r12, lr} \n\t" \ - "add r0, pc, #1 \n\t" \ - "bx r0 \n\t" \ - ".code 16 \n\t"); \ -} - -#define chSysIRQExitI() { \ - asm("ldr r0, =IrqCommon \n\t" \ - "bx r0 \n\t"); \ -} -#else /* !THUMB */ -#define chSysIRQEnterI() { \ - asm("stmfd sp!, {r0-r3, r12, lr} \n\t"); \ -} - -#define chSysIRQExitI() { \ - asm("b IrqCommon \n\t"); \ -} -#endif /* !THUMB */ - -/* It requires zero bytes, but better be safe.*/ -#define IDLE_THREAD_STACK_SIZE 8 -void _IdleThread(void *p) __attribute__((noreturn)); - -void chSysHalt(void); -void chSysSwitchI(Thread *otp, Thread *ntp); -void chSysPuts(char *msg); -void threadstart(void); - -#endif /* _CHCORE_H_ */ diff --git a/ports/ARM7-AT91SAM7X/GCC/chtypes.h b/ports/ARM7-AT91SAM7X/GCC/chtypes.h deleted file mode 100644 index 2ac219148..000000000 --- a/ports/ARM7-AT91SAM7X/GCC/chtypes.h +++ /dev/null @@ -1,47 +0,0 @@ -/* - 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 . -*/ - -#ifndef _CHTYPES_H_ -#define _CHTYPES_H_ - -/* - * Generic types often dependant on the compiler. - */ -#define BOOL char -#define BYTE8 unsigned char -#define SBYTE8 char -#define WORD16 short -#define UWORD16 unsigned short -#define LONG32 int -#define ULONG32 unsigned int - -typedef BYTE8 t_tmode; -typedef BYTE8 t_tstate; -typedef UWORD16 t_tid; -typedef ULONG32 t_prio; -typedef LONG32 t_msg; -typedef LONG32 t_eventid; -typedef ULONG32 t_eventmask; -typedef ULONG32 t_time; -typedef LONG32 t_cnt; -typedef ULONG32 t_size; - -#define INLINE inline - -#endif /* _CHTYPES_H_ */ diff --git a/ports/ARM7-AT91SAM7X/GCC/crt0.s b/ports/ARM7-AT91SAM7X/GCC/crt0.s index add484686..dbe9db079 100644 --- a/ports/ARM7-AT91SAM7X/GCC/crt0.s +++ b/ports/ARM7-AT91SAM7X/GCC/crt0.s @@ -169,10 +169,4 @@ AbortHandler: .globl FiqHandler FiqHandler: -.weak _halt32 -.globl _halt32 -_halt32: - mrs r0, CPSR - orr r0, #I_BIT | F_BIT - msr CPSR_c, r0 .loop: b .loop diff --git a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c index 2c03511c6..5d56e267d 100644 --- a/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c +++ b/ports/ARM7-AT91SAM7X/GCC/sam7x_serial.c @@ -63,6 +63,7 @@ static void ServeInterrupt(AT91PS_USART u, FullDuplexDriver *com) { SetError(u->US_CSR, com); u->US_CR = AT91C_US_RSTSTA; } + AT91C_BASE_AIC->AIC_EOICR = 0; \ } __attribute__((naked, weak)) diff --git a/ports/ARM7/chcore.h b/ports/ARM7/chcore.h new file mode 100644 index 000000000..2917428f3 --- /dev/null +++ b/ports/ARM7/chcore.h @@ -0,0 +1,132 @@ +/* + 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 . +*/ + +#ifndef _CHCORE_H_ +#define _CHCORE_H_ + +typedef void *regarm; + +/* + * Interrupt saved context. + */ +struct extctx { + regarm spsr_irq; + regarm lr_irq; + regarm r0; + regarm r1; + regarm r2; + regarm r3; + regarm r12; +}; + +/* + * System saved context. + */ +struct intctx { + regarm r4; + regarm r5; + regarm r6; +#ifndef CH_CURRP_REGISTER_CACHE + regarm r7; +#endif + regarm r8; + regarm r9; + regarm r10; + regarm r11; + regarm lr; +}; + +/* + * Port dependent part of the Thread structure, you may add fields in + * this structure. + */ +typedef struct { + struct intctx *r13; +} Context; + +/* + * Platform dependent part of the \p chThdCreate() API. + */ +#define SETUP_CONTEXT(workspace, wsize, pf, arg) { \ + tp->p_ctx.r13 = (struct intctx *)((BYTE8 *)workspace + \ + wsize - \ + sizeof(struct intctx)); \ + tp->p_ctx.r13->r4 = pf; \ + tp->p_ctx.r13->r5 = arg; \ + tp->p_ctx.r13->lr = threadstart; \ +} + +#ifdef THUMB +extern void chSysLock(void); +extern void chSysUnlock(void); +#else /* !THUMB */ +#define chSysLock() asm("msr CPSR_c, #0x9F") +#define chSysUnlock() asm("msr CPSR_c, #0x1F") +#endif /* THUMB */ + +#ifdef THUMB +#define INT_REQUIRED_STACK 0x10 +#else /* !THUMB */ +#define INT_REQUIRED_STACK 0 +#endif /* !THUMB */ +#define StackAlign(n) ((((n) - 1) | 3) + 1) +#define UserStackSize(n) StackAlign(sizeof(Thread) + \ + sizeof(struct intctx) + \ + sizeof(struct extctx) + \ + (n) + \ + INT_REQUIRED_STACK) +#define WorkingArea(s, n) ULONG32 s[UserStackSize(n) >> 2]; + +#ifdef THUMB +#define chSysIRQEnterI() { \ + asm(".code 32 \n\t" \ + "stmfd sp!, {r0-r3, r12, lr} \n\t" \ + "add r0, pc, #1 \n\t" \ + "bx r0 \n\t" \ + ".code 16 \n\t"); \ +} + +#define chSysIRQExitI() { \ + asm("ldr r0, =IrqCommon \n\t" \ + "bx r0 \n\t"); \ +} +#else /* !THUMB */ +#define chSysIRQEnterI() { \ + asm("stmfd sp!, {r0-r3, r12, lr} \n\t"); \ +} + +#define chSysIRQExitI() { \ + asm("b IrqCommon \n\t"); \ +} +#endif /* !THUMB */ + +#ifdef THUMB +#define chSysSwitchI chSysSwitchI_thumb +#endif /* THUMB */ + +/* It requires zero bytes, but better be safe.*/ +#define IDLE_THREAD_STACK_SIZE 8 +void _IdleThread(void *p) __attribute__((noreturn)); + +void chSysHalt(void); +void chSysSwitchI(Thread *otp, Thread *ntp); +void chSysPuts(char *msg); +void threadstart(void); + +#endif /* _CHCORE_H_ */ diff --git a/ports/ARM7/chsys.s b/ports/ARM7/chsys.s new file mode 100644 index 000000000..770edaaec --- /dev/null +++ b/ports/ARM7/chsys.s @@ -0,0 +1,225 @@ +/* + 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 . +*/ + +/* + * ARM7 port system code. + */ + +#include + +.set MODE_USR, 0x10 +.set MODE_FIQ, 0x11 +.set MODE_IRQ, 0x12 +.set MODE_SVC, 0x13 +.set MODE_ABT, 0x17 +.set MODE_UND, 0x1B +.set MODE_SYS, 0x1F + +.equ I_BIT, 0x80 +.equ F_BIT, 0x40 + +.text + +/* + * Interrupt enable/disable functions, only present if there is THUMB code in + * the system because those are inlined in ARM code. + */ +#ifdef THUMB_PRESENT +.balign 16 +.code 16 +.thumb_func +.global chSysLock +chSysLock: + mov r0, pc + bx r0 +.code 32 + msr CPSR_c, #MODE_SYS | I_BIT + bx lr + +.balign 16 +.code 16 +.thumb_func +.global chSysUnlock +chSysUnlock: + mov r0, pc + bx r0 +.code 32 + msr CPSR_c, #MODE_SYS + bx lr +#endif + +.balign 16 +#ifdef THUMB_PRESENT +.code 16 +.thumb_func +.global chSysSwitchI_thumb +chSysSwitchI_thumb: + mov r2, pc + bx r2 + // Jumps into chSysSwitchI in ARM mode +#endif +.code 32 +.global chSysSwitchI +chSysSwitchI: +#ifdef CH_CURRP_REGISTER_CACHE + stmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} + str sp, [r0, #16] + ldr sp, [r1, #16] +#ifdef THUMB_PRESENT + ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, lr} + bx lr +#else /* !THUMB_PRESENT */ + ldmfd sp!, {r4, r5, r6, r8, r9, r10, r11, pc} +#endif /* !THUMB_PRESENT */ +#else /* !CH_CURRP_REGISTER_CACHE */ + stmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} + str sp, [r0, #16] + ldr sp, [r1, #16] +#ifdef THUMB_PRESENT + ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, lr} + bx lr +#else /* !THUMB_PRESENT */ + ldmfd sp!, {r4, r5, r6, r7, r8, r9, r10, r11, pc} +#endif /* !THUMB_PRESENT */ +#endif /* !CH_CURRP_REGISTER_CACHE */ + +/* + * Common exit point for all IRQ routines, it performs the rescheduling if + * required. + * System stack frame structure after a context switch in the + * interrupt handler: + * + * High +------------+ + * | LR_USR | -+ + * | R12 | | + * | R3 | | + * | R2 | | External context: IRQ handler frame + * | R1 | | + * | R0 | | + * | LR_IRQ | | (user code return address) + * | SPSR | -+ (user code status) + * | .... | <- mk_DoRescheduleI() stack frame, optimize it for space + * | LR | -+ (system code return address) + * | R11 | | + * | R10 | | + * | R9 | | + * | R8 | | Internal context: mk_SwitchI() frame + * | (R7) | | (optional, see CH_CURRP_REGISTER_CACHE) + * | R6 | | + * | R5 | | + * SP-> | R4 | -+ + * Low +------------+ + */ +.balign 16 +#ifdef THUMB_NO_INTERWORKING +.code 16 +.thumb_func +.globl IrqCommon +IrqCommon: + bl chSchRescRequiredI + mov lr, pc + bx lr +.code 32 +#else /* !THUMB_NO_INTERWORKING */ +.code 32 +.globl IrqCommon +IrqCommon: + bl chSchRescRequiredI +#endif /* !THUMB_NO_INTERWORKING */ + cmp r0, #0 // Simply returns if a + ldmeqfd sp!, {r0-r3, r12, lr} // reschedule is not + subeqs pc, lr, #4 // required. + + // Saves the IRQ mode registers in the system stack. + ldmfd sp!, {r0-r3, r12, lr} // IRQ stack now empty. + msr CPSR_c, #MODE_SYS | I_BIT + stmfd sp!, {r0-r3, r12, lr} // Registers on System Stack. + msr CPSR_c, #MODE_IRQ | I_BIT + mrs r0, SPSR + mov r1, lr + msr CPSR_c, #MODE_SYS | I_BIT + stmfd sp!, {r0, r1} // Push R0=SPSR, R1=LR_IRQ. + + // Context switch. +#ifdef THUMB_NO_INTERWORKING + add r0, pc, #1 + bx r0 +.code 16 + bl chSchDoRescheduleI + mov lr, pc + bx lr +.code 32 +#else /* !THUMB_NO_INTERWORKING */ + bl chSchDoRescheduleI +#endif /* !THUMB_NO_INTERWORKING */ + + // Re-establish the IRQ conditions again. + ldmfd sp!, {r0, r1} // Pop R0=SPSR, R1=LR_IRQ. + msr CPSR_c, #MODE_IRQ | I_BIT + msr SPSR_fsxc, r0 + mov lr, r1 + msr CPSR_c, #MODE_SYS | I_BIT + ldmfd sp!, {r0-r3, r12, lr} + msr CPSR_c, #MODE_IRQ | I_BIT + subs pc, lr, #4 + +/* + * Threads trampoline code. + * NOTE: The threads always start in ARM mode then switch to the thread-function mode. + */ +.balign 16 +.code 32 +.globl threadstart +threadstart: + msr CPSR_c, #MODE_SYS +#ifndef THUMB_NO_INTERWORKING + mov r0, r5 + mov lr, pc + bx r4 + bl chThdExit +#else /* !THUMB_NO_INTERWORKING */ + add r0, pc, #1 + bx r0 +.code 16 + mov r0, r5 + bl jmpr4 + bl chThdExit +jmpr4: + bx r4 +#endif /* !THUMB_NO_INTERWORKING */ + +/* + * System stop code. + */ +.code 16 +.p2align 2,, +.thumb_func +.weak _halt16 +.globl _halt16 +_halt16: + mov r0, pc + bx r0 +.code 32 +.weak _halt32 +.globl _halt32 +_halt32: + mrs r0, CPSR + orr r0, #I_BIT | F_BIT + msr CPSR_c, r0 +.loop: b .loop diff --git a/ports/ARM7/chtypes.h b/ports/ARM7/chtypes.h new file mode 100644 index 000000000..2ac219148 --- /dev/null +++ b/ports/ARM7/chtypes.h @@ -0,0 +1,47 @@ +/* + 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 . +*/ + +#ifndef _CHTYPES_H_ +#define _CHTYPES_H_ + +/* + * Generic types often dependant on the compiler. + */ +#define BOOL char +#define BYTE8 unsigned char +#define SBYTE8 char +#define WORD16 short +#define UWORD16 unsigned short +#define LONG32 int +#define ULONG32 unsigned int + +typedef BYTE8 t_tmode; +typedef BYTE8 t_tstate; +typedef UWORD16 t_tid; +typedef ULONG32 t_prio; +typedef LONG32 t_msg; +typedef LONG32 t_eventid; +typedef ULONG32 t_eventmask; +typedef ULONG32 t_time; +typedef LONG32 t_cnt; +typedef ULONG32 t_size; + +#define INLINE inline + +#endif /* _CHTYPES_H_ */ -- cgit v1.2.3