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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6185 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2013-08-20 10:09:53 +00:00
parent 706f6a3967
commit 2bbf9f1ea0
11 changed files with 477 additions and 466 deletions
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12
demos/ARMCM0-STM32F051-DISCOVERY/Makefile
View File

@ -59,12 +59,12 @@ PROJECT = ch
# Imported source files and paths # Imported source files and paths
CHIBIOS = ../.. CHIBIOS = ../..
include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk #include $(CHIBIOS)/boards/ST_STM32F0_DISCOVERY/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk #include $(CHIBIOS)/os/hal/platforms/STM32F0xx/platform.mk
include $(CHIBIOS)/os/hal/hal.mk include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32F0xx/port.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/kernel/kernel.mk include $(CHIBIOS)/os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
include $(CHIBIOS)/test/test.mk #include $(CHIBIOS)/test/test.mk
# Define linker script file here # Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F051x8.ld LDSCRIPT= $(PORTLD)/STM32F051x8.ld
@ -204,4 +204,4 @@ ifeq ($(USE_FWLIB),yes)
USE_OPT += -DUSE_STDPERIPH_DRIVER USE_OPT += -DUSE_STDPERIPH_DRIVER
endif endif
include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/rules.mk

273
demos/ARMCM0-STM32F051-DISCOVERY/chconf.h
View File

@ -40,8 +40,29 @@
* @details Frequency of the system timer that drives the system ticks. This * @details Frequency of the system timer that drives the system ticks. This
* setting also defines the system tick time unit. * setting also defines the system tick time unit.
*/ */
#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__) #if !defined(CH_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
#define CH_FREQUENCY 1000 #define CH_CFG_ST_FREQUENCY 1000
#endif
/**
* @brief Realtime Counter frequency.
* @details Frequency of the system counter used for realtime delays and
* measurements.
*/
#if !defined(CH_CFG_RTC_FREQUENCY) || defined(__DOXYGEN__)
#define CH_CFG_RTC_FREQUENCY 0
#endif
/**
* @brief Time delta constant for the tick-less mode.
* @note If this value is zero then the system uses the classic
* periodic tick. This value represents the minimum number
* of ticks that is safe to specify in a timeout directive.
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#if !defined(CH_CFG_TIMEDELTA) || defined(__DOXYGEN__)
#define CH_CFG_TIMEDELTA 0
#endif #endif
/** /**
@ -51,12 +72,13 @@
* disables the preemption for threads with equal priority and the * disables the preemption for threads with equal priority and the
* round robin becomes cooperative. Note that higher priority * round robin becomes cooperative. Note that higher priority
* threads can still preempt, the kernel is always preemptive. * threads can still preempt, the kernel is always preemptive.
*
* @note Disabling the round robin preemption makes the kernel more compact * @note Disabling the round robin preemption makes the kernel more compact
* and generally faster. * and generally faster.
* @note The round robin preemption is not supported in tickless mode and
* must be set to zero in that case.
*/ */
#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__) #if !defined(CH_CFG_TIME_QUANTUM) || defined(__DOXYGEN__)
#define CH_TIME_QUANTUM 20 #define CH_CFG_TIME_QUANTUM 0
#endif #endif
/** /**
@ -68,27 +90,20 @@
* *
* @note In order to let the OS manage the whole RAM the linker script must * @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols. * provide the @p __heap_base__ and @p __heap_end__ symbols.
* @note Requires @p CH_USE_MEMCORE. * @note Requires @p CH_CFG_USE_MEMCORE.
*/ */
#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__) #if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
#define CH_MEMCORE_SIZE 0 #define CH_CFG_MEMCORE_SIZE 0
#endif #endif
/** /**
* @brief Idle thread automatic spawn suppression. * @brief Idle thread automatic spawn suppression.
* @details When this option is activated the function @p chSysInit() * @details When this option is activated the function @p chSysInit()
* does not spawn the idle thread automatically. The application has * does not spawn the idle thread. The application @p main()
* then the responsibility to do one of the following: * function becomes the idle thread and must implement an
* - Spawn a custom idle thread at priority @p IDLEPRIO. * infinite loop. */
* - Change the main() thread priority to @p IDLEPRIO then enter #if !defined(CH_CFG_NO_IDLE_THREAD) || defined(__DOXYGEN__)
* an endless loop. In this scenario the @p main() thread acts as #define CH_CFG_NO_IDLE_THREAD FALSE
* the idle thread.
* .
* @note Unless an idle thread is spawned the @p main() thread must not
* enter a sleep state.
*/
#if !defined(CH_NO_IDLE_THREAD) || defined(__DOXYGEN__)
#define CH_NO_IDLE_THREAD FALSE
#endif #endif
/** @} */ /** @} */
@ -108,8 +123,8 @@
* @note This is not related to the compiler optimization options. * @note This is not related to the compiler optimization options.
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__) #if !defined(CH_CFG_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
#define CH_OPTIMIZE_SPEED TRUE #define CH_CFG_OPTIMIZE_SPEED TRUE
#endif #endif
/** @} */ /** @} */
@ -121,14 +136,25 @@
*/ */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Time Measurement APIs.
* @details If enabled then the time measurement APIs are included in
* the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_TM) || defined(__DOXYGEN__)
#define CH_CFG_USE_TM FALSE
#endif
/** /**
* @brief Threads registry APIs. * @brief Threads registry APIs.
* @details If enabled then the registry APIs are included in the kernel. * @details If enabled then the registry APIs are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_REGISTRY) || defined(__DOXYGEN__)
#define CH_USE_REGISTRY TRUE #define CH_CFG_USE_REGISTRY TRUE
#endif #endif
/** /**
@ -138,8 +164,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_WAITEXIT) || defined(__DOXYGEN__)
#define CH_USE_WAITEXIT TRUE #define CH_CFG_USE_WAITEXIT TRUE
#endif #endif
/** /**
@ -148,8 +174,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_SEMAPHORES) || defined(__DOXYGEN__)
#define CH_USE_SEMAPHORES TRUE #define CH_CFG_USE_SEMAPHORES TRUE
#endif #endif
/** /**
@ -157,23 +183,12 @@
* @details If enabled then the threads are enqueued on semaphores by * @details If enabled then the threads are enqueued on semaphores by
* priority rather than in FIFO order. * priority rather than in FIFO order.
* *
* @note The default is @p FALSE. Enable this if you have special requirements. * @note The default is @p FALSE. Enable this if you have special
* @note Requires @p CH_USE_SEMAPHORES. * requirements.
* @note Requires @p CH_CFG_USE_SEMAPHORES.
*/ */
#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_SEMAPHORES_PRIORITY FALSE #define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
#endif
/**
* @brief Atomic semaphore API.
* @details If enabled then the semaphores the @p chSemSignalWait() API
* is included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
#define CH_USE_SEMSW TRUE
#endif #endif
/** /**
@ -182,8 +197,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
#define CH_USE_MUTEXES TRUE #define CH_CFG_USE_MUTEXES TRUE
#endif #endif
/** /**
@ -192,10 +207,10 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_MUTEXES. * @note Requires @p CH_CFG_USE_MUTEXES.
*/ */
#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_CONDVARS) || defined(__DOXYGEN__)
#define CH_USE_CONDVARS TRUE #define CH_CFG_USE_CONDVARS TRUE
#endif #endif
/** /**
@ -204,10 +219,10 @@
* specification are included in the kernel. * specification are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_CONDVARS. * @note Requires @p CH_CFG_USE_CONDVARS.
*/ */
#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_USE_CONDVARS_TIMEOUT TRUE #define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
#endif #endif
/** /**
@ -216,8 +231,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_EVENTS) || defined(__DOXYGEN__)
#define CH_USE_EVENTS TRUE #define CH_CFG_USE_EVENTS TRUE
#endif #endif
/** /**
@ -226,10 +241,10 @@
* are included in the kernel. * are included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_EVENTS. * @note Requires @p CH_CFG_USE_EVENTS.
*/ */
#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_USE_EVENTS_TIMEOUT TRUE #define CH_CFG_USE_EVENTS_TIMEOUT TRUE
#endif #endif
/** /**
@ -239,8 +254,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MESSAGES) || defined(__DOXYGEN__)
#define CH_USE_MESSAGES TRUE #define CH_CFG_USE_MESSAGES TRUE
#endif #endif
/** /**
@ -248,11 +263,12 @@
* @details If enabled then messages are served by priority rather than in * @details If enabled then messages are served by priority rather than in
* FIFO order. * FIFO order.
* *
* @note The default is @p FALSE. Enable this if you have special requirements. * @note The default is @p FALSE. Enable this if you have special
* @note Requires @p CH_USE_MESSAGES. * requirements.
* @note Requires @p CH_CFG_USE_MESSAGES.
*/ */
#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_MESSAGES_PRIORITY FALSE #define CH_CFG_USE_MESSAGES_PRIORITY FALSE
#endif #endif
/** /**
@ -261,10 +277,10 @@
* included in the kernel. * included in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES. * @note Requires @p CH_CFG_USE_SEMAPHORES.
*/ */
#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MAILBOXES) || defined(__DOXYGEN__)
#define CH_USE_MAILBOXES TRUE #define CH_CFG_USE_MAILBOXES TRUE
#endif #endif
/** /**
@ -273,8 +289,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_QUEUES) || defined(__DOXYGEN__)
#define CH_USE_QUEUES TRUE #define CH_CFG_USE_QUEUES TRUE
#endif #endif
/** /**
@ -284,8 +300,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MEMCORE) || defined(__DOXYGEN__)
#define CH_USE_MEMCORE TRUE #define CH_CFG_USE_MEMCORE TRUE
#endif #endif
/** /**
@ -294,26 +310,12 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_MEMCORE and either @p CH_USE_MUTEXES or * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
* @p CH_USE_SEMAPHORES. * @p CH_CFG_USE_SEMAPHORES.
* @note Mutexes are recommended. * @note Mutexes are recommended.
*/ */
#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_HEAP) || defined(__DOXYGEN__)
#define CH_USE_HEAP TRUE #define CH_CFG_USE_HEAP TRUE
#endif
/**
* @brief C-runtime allocator.
* @details If enabled the the heap allocator APIs just wrap the C-runtime
* @p malloc() and @p free() functions.
*
* @note The default is @p FALSE.
* @note Requires @p CH_USE_HEAP.
* @note The C-runtime may or may not require @p CH_USE_MEMCORE, see the
* appropriate documentation.
*/
#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
#define CH_USE_MALLOC_HEAP FALSE
#endif #endif
/** /**
@ -323,8 +325,8 @@
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
*/ */
#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)
#define CH_USE_MEMPOOLS TRUE #define CH_CFG_USE_MEMPOOLS TRUE
#endif #endif
/** /**
@ -333,11 +335,11 @@
* in the kernel. * in the kernel.
* *
* @note The default is @p TRUE. * @note The default is @p TRUE.
* @note Requires @p CH_USE_WAITEXIT. * @note Requires @p CH_CFG_USE_WAITEXIT.
* @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS. * @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
*/ */
#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__) #if !defined(CH_CFG_USE_DYNAMIC) || defined(__DOXYGEN__)
#define CH_USE_DYNAMIC TRUE #define CH_CFG_USE_DYNAMIC TRUE
#endif #endif
/** @} */ /** @} */
@ -349,6 +351,15 @@
*/ */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Debug option, kernel statistics.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)
#define CH_DBG_STATISTICS FALSE
#endif
/** /**
* @brief Debug option, system state check. * @brief Debug option, system state check.
* @details If enabled the correct call protocol for system APIs is checked * @details If enabled the correct call protocol for system APIs is checked
@ -357,7 +368,7 @@
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__) #if !defined(CH_DBG_SYSTEM_STATE_CHECK) || defined(__DOXYGEN__)
#define CH_DBG_SYSTEM_STATE_CHECK FALSE #define CH_DBG_SYSTEM_STATE_CHECK TRUE
#endif #endif
/** /**
@ -368,7 +379,7 @@
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) #if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_CHECKS FALSE #define CH_DBG_ENABLE_CHECKS TRUE
#endif #endif
/** /**
@ -380,7 +391,7 @@
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_ASSERTS FALSE #define CH_DBG_ENABLE_ASSERTS TRUE
#endif #endif
/** /**
@ -391,7 +402,7 @@
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__) #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_TRACE FALSE #define CH_DBG_ENABLE_TRACE TRUE
#endif #endif
/** /**
@ -405,7 +416,7 @@
* @p panic_msg variable set to @p NULL. * @p panic_msg variable set to @p NULL.
*/ */
#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__) #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_STACK_CHECK FALSE #define CH_DBG_ENABLE_STACK_CHECK TRUE
#endif #endif
/** /**
@ -417,20 +428,20 @@
* @note The default is @p FALSE. * @note The default is @p FALSE.
*/ */
#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__) #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
#define CH_DBG_FILL_THREADS FALSE #define CH_DBG_FILL_THREADS TRUE
#endif #endif
/** /**
* @brief Debug option, threads profiling. * @brief Debug option, threads profiling.
* @details If enabled then a field is added to the @p Thread structure that * @details If enabled then a field is added to the @p thread_t structure that
* counts the system ticks occurred while executing the thread. * counts the system ticks occurred while executing the thread.
* *
* @note The default is @p TRUE. * @note The default is @p FALSE.
* @note This debug option is defaulted to TRUE because it is required by * @note This debug option is not currently compatible with the
* some test cases into the test suite. * tickless mode.
*/ */
#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__) #if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
#define CH_DBG_THREADS_PROFILING TRUE #define CH_DBG_THREADS_PROFILING TRUE
#endif #endif
/** @} */ /** @} */
@ -444,10 +455,10 @@
/** /**
* @brief Threads descriptor structure extension. * @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p Thread structure. * @details User fields added to the end of the @p thread_t structure.
*/ */
#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__) #if !defined(CH_CFG_THREAD_EXTRA_FIELDS) || defined(__DOXYGEN__)
#define THREAD_EXT_FIELDS \ #define CH_CFG_THREAD_EXTRA_FIELDS \
/* Add threads custom fields here.*/ /* Add threads custom fields here.*/
#endif #endif
@ -458,8 +469,8 @@
* @note It is invoked from within @p chThdInit() and implicitly from all * @note It is invoked from within @p chThdInit() and implicitly from all
* the threads creation APIs. * the threads creation APIs.
*/ */
#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_THREAD_INIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_INIT_HOOK(tp) { \ #define CH_CFG_THREAD_INIT_HOOK(tp) { \
/* Add threads initialization code here.*/ \ /* Add threads initialization code here.*/ \
} }
#endif #endif
@ -472,8 +483,8 @@
* @note It is also invoked when the threads simply return in order to * @note It is also invoked when the threads simply return in order to
* terminate. * terminate.
*/ */
#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_THREAD_EXIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_EXIT_HOOK(tp) { \ #define CH_CFG_THREAD_EXIT_HOOK(tp) { \
/* Add threads finalization code here.*/ \ /* Add threads finalization code here.*/ \
} }
#endif #endif
@ -482,18 +493,40 @@
* @brief Context switch hook. * @brief Context switch hook.
* @details This hook is invoked just before switching between threads. * @details This hook is invoked just before switching between threads.
*/ */
#if !defined(THREAD_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_CONTEXT_SWITCH_HOOK) || defined(__DOXYGEN__)
#define THREAD_CONTEXT_SWITCH_HOOK(ntp, otp) { \ #define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
/* System halt code here.*/ \ /* System halt code here.*/ \
} }
#endif #endif
/**
* @brief Idle thread enter hook.
* @note This hook is invoked within a critical zone, no OS functions
* should be invoked from here.
* @note This macro can be used to activate a power saving mode.
*/
#if !defined(CH_CFG_IDLE_ENTER_HOOK) || defined(__DOXYGEN__)
#define CH_CFG_IDLE_ENTER_HOOK() { \
}
#endif
/**
* @brief Idle thread leave hook.
* @note This hook is invoked within a critical zone, no OS functions
* should be invoked from here.
* @note This macro can be used to deactivate a power saving mode.
*/
#if !defined(CH_CFG_IDLE_LEAVE_HOOK) || defined(__DOXYGEN__)
#define CH_CFG_IDLE_LEAVE_HOOK() { \
}
#endif
/** /**
* @brief Idle Loop hook. * @brief Idle Loop hook.
* @details This hook is continuously invoked by the idle thread loop. * @details This hook is continuously invoked by the idle thread loop.
*/ */
#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
#define IDLE_LOOP_HOOK() { \ #define CH_CFG_IDLE_LOOP_HOOK() { \
/* Idle loop code here.*/ \ /* Idle loop code here.*/ \
} }
#endif #endif
@ -503,8 +536,8 @@
* @details This hook is invoked in the system tick handler immediately * @details This hook is invoked in the system tick handler immediately
* after processing the virtual timers queue. * after processing the virtual timers queue.
*/ */
#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_SYSTEM_TICK_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_TICK_EVENT_HOOK() { \ #define CH_CFG_SYSTEM_TICK_HOOK() { \
/* System tick event code here.*/ \ /* System tick event code here.*/ \
} }
#endif #endif
@ -514,8 +547,8 @@
* @details This hook is invoked in case to a system halting error before * @details This hook is invoked in case to a system halting error before
* the system is halted. * the system is halted.
*/ */
#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__) #if !defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_HALT_HOOK() { \ #define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
/* System halt code here.*/ \ /* System halt code here.*/ \
} }
#endif #endif

146
os/rt/ports/ARMCMx/chcore_v6m.c
View File

@ -16,13 +16,6 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. 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" #include "ch.h"
/*===========================================================================*/ /*===========================================================================*/
/* Port interrupt handlers. */ /* Module local definitions. */
/*===========================================================================*/ /*===========================================================================*/
/** /*===========================================================================*/
* @brief System Timer vector. /* Module exported variables. */
* @details This interrupt is used as system tick. /*===========================================================================*/
* @note The timer must be initialized in the startup code.
*/
CH_IRQ_HANDLER(SysTickVector) {
CH_IRQ_PROLOGUE(); /*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
chSysLockFromIsr(); /*===========================================================================*/
chSysTimerHandlerI(); /* Module local variables. */
chSysUnlockFromIsr(); /*===========================================================================*/
CH_IRQ_EPILOGUE(); /*===========================================================================*/
} /* Module local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module interrupt handlers. */
/*===========================================================================*/
#if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__) #if !CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
/** /**
@ -62,13 +59,18 @@ CH_IRQ_HANDLER(SysTickVector) {
* context switch. * context switch.
*/ */
void NMIVector(void) { 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 /* Discarding the current exception context and positioning the stack to
point to the real one.*/ point to the real one.*/
asm volatile ("mrs %0, PSP" : "=r" (ctxp) : : "memory");
ctxp++; 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(); port_unlock_from_isr();
} }
#endif /* !CORTEX_ALTERNATE_SWITCH */ #endif /* !CORTEX_ALTERNATE_SWITCH */
@ -80,18 +82,21 @@ void NMIVector(void) {
* context switch. * context switch.
*/ */
void PendSVVector(void) { 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 /* Discarding the current exception context and positioning the stack to
point to the real one.*/ point to the real one.*/
asm volatile ("mrs %0, PSP" : "=r" (ctxp) : : "memory");
ctxp++; ctxp++;
asm volatile ("msr PSP, %0" : : "r" (ctxp) : "memory");
/* Writing back the modified PSP value.*/
__set_PSP((uint32_t)ctxp);
} }
#endif /* CORTEX_ALTERNATE_SWITCH */ #endif /* CORTEX_ALTERNATE_SWITCH */
/*===========================================================================*/ /*===========================================================================*/
/* Port exported functions. */ /* Module exported functions. */
/*===========================================================================*/ /*===========================================================================*/
/** /**
@ -102,14 +107,21 @@ void PendSVVector(void) {
void _port_irq_epilogue(regarm_t lr) { void _port_irq_epilogue(regarm_t lr) {
if (lr != (regarm_t)0xFFFFFFF1) { if (lr != (regarm_t)0xFFFFFFF1) {
register struct extctx *ctxp; struct extctx *ctxp;
port_lock_from_isr(); 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 /* Adding an artificial exception return context, there is no need to
populate it fully.*/ populate it fully.*/
asm volatile ("mrs %0, PSP" : "=r" (ctxp) : : "memory");
ctxp--; 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; ctxp->xpsr = (regarm_t)0x01000000;
/* The exit sequence is different depending on if a preemption is /* 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");
}
/** @} */ /** @} */

399
os/rt/ports/ARMCMx/chcore_v6m.h
View File

@ -16,13 +16,6 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. 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.
*/ */
/** /**
@ -37,96 +30,14 @@
#define _CHCORE_V6M_H_ #define _CHCORE_V6M_H_
/*===========================================================================*/ /*===========================================================================*/
/* Port constants. */ /* Module constants. */
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief PendSV priority level. * @name Architecture and Compiler
* @note This priority is enforced to be equal to @p 0, * @{
* this handler always has the highest priority that cannot preempt
* the kernel.
*/ */
#define CORTEX_PRIORITY_PENDSV 0 #if (CORTEX_MODEL == CORTEX_M0) || defined(__DOXYGEN__)
/*===========================================================================*/
/* Port macros. */
/*===========================================================================*/
/*===========================================================================*/
/* Port configurable parameters. */
/*===========================================================================*/
/**
* @brief Stack size for the system idle thread.
* @details This size depends on the idle thread implementation, usually
* the idle thread should take no more space than those reserved
* by @p PORT_INT_REQUIRED_STACK.
* @note In this port it is set to 16 because the idle thread does have
* a stack frame when compiling without optimizations. You may
* reduce this value to zero when compiling with optimizations.
*/
#if !defined(PORT_IDLE_THREAD_STACK_SIZE)
#define PORT_IDLE_THREAD_STACK_SIZE 16
#endif
/**
* @brief Per-thread stack overhead for interrupts servicing.
* @details This constant is used in the calculation of the correct working
* area size.
* @note In this port this value is conservatively set to 32 because the
* function @p chSchDoReschedule() can have a stack frame, especially
* with compiler optimizations disabled. The value can be reduced
* when compiler optimizations are enabled.
*/
#if !defined(PORT_INT_REQUIRED_STACK)
#define PORT_INT_REQUIRED_STACK 32
#endif
/**
* @brief Enables the use of the WFI instruction in the idle thread loop.
*/
#if !defined(CORTEX_ENABLE_WFI_IDLE)
#define CORTEX_ENABLE_WFI_IDLE FALSE
#endif
/**
* @brief SYSTICK handler priority.
* @note The default SYSTICK handler priority is calculated as the priority
* level in the middle of the numeric priorities range.
*/
#if !defined(CORTEX_PRIORITY_SYSTICK)
#define CORTEX_PRIORITY_SYSTICK (CORTEX_PRIORITY_LEVELS >> 1)
#elif !CORTEX_IS_VALID_PRIORITY(CORTEX_PRIORITY_SYSTICK)
/* If it is externally redefined then better perform a validity check on it.*/
#error "invalid priority level specified for CORTEX_PRIORITY_SYSTICK"
#endif
/**
* @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. */
/*===========================================================================*/
/**
* @brief Maximum usable priority for normal ISRs.
*/
#if CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
#define CORTEX_MAX_KERNEL_PRIORITY 1
#else
#define CORTEX_MAX_KERNEL_PRIORITY 0
#endif
/*===========================================================================*/
/* Port exported info. */
/*===========================================================================*/
/** /**
* @brief Macro defining the specific ARM architecture. * @brief Macro defining the specific ARM architecture.
*/ */
@ -140,10 +51,12 @@
/** /**
* @brief Name of the architecture variant. * @brief Name of the architecture variant.
*/ */
#if (CORTEX_MODEL == CORTEX_M0) || defined(__DOXYGEN__)
#define CH_CORE_VARIANT_NAME "Cortex-M0" #define CH_CORE_VARIANT_NAME "Cortex-M0"
#elif (CORTEX_MODEL == CORTEX_M1)
#define CH_CORE_VARIANT_NAME "Cortex-M1" #elif (CORTEX_MODEL == CORTEX_M0PLUS)
#define CH_ARCHITECTURE_ARM_v6M
#define CH_ARCHITECTURE_NAME "ARMv6-M"
#define CH_CORE_VARIANT_NAME "Cortex-M0+"
#endif #endif
/** /**
@ -154,9 +67,82 @@
#else #else
#define CH_PORT_INFO "Preemption through PendSV" #define CH_PORT_INFO "Preemption through PendSV"
#endif #endif
/** @} */
/**
* @brief This port does not support a realtime counter.
*/
#define CH_PORT_SUPPORTS_RT FALSE
/**
* @brief PendSV priority level.
* @note This priority is enforced to be equal to @p 0,
* this handler always has the highest priority that cannot preempt
* the kernel.
*/
#define CORTEX_PRIORITY_PENDSV 0
/*===========================================================================*/ /*===========================================================================*/
/* Port implementation part. */ /* Module pre-compile time settings. */
/*===========================================================================*/
/**
* @brief Stack size for the system idle thread.
* @details This size depends on the idle thread implementation, usually
* the idle thread should take no more space than those reserved
* by @p PORT_INT_REQUIRED_STACK.
* @note In this port it is set to 16 because the idle thread does have
* a stack frame when compiling without optimizations. You may
* reduce this value to zero when compiling with optimizations.
*/
#if !defined(CH_PORT_IDLE_THREAD_STACK_SIZE)
#define CH_PORT_IDLE_THREAD_STACK_SIZE 16
#endif
/**
* @brief Per-thread stack overhead for interrupts servicing.
* @details This constant is used in the calculation of the correct working
* area size.
* @note In this port this value is conservatively set to 32 because the
* function @p chSchDoReschedule() can have a stack frame, especially
* with compiler optimizations disabled. The value can be reduced
* when compiler optimizations are enabled.
*/
#if !defined(CH_PORT_INT_REQUIRED_STACK)
#define CH_PORT_INT_REQUIRED_STACK 32
#endif
/**
* @brief Enables the use of the WFI instruction in the idle thread loop.
*/
#if !defined(CORTEX_ENABLE_WFI_IDLE)
#define CORTEX_ENABLE_WFI_IDLE FALSE
#endif
/**
* @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
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/**
* @brief Maximum usable priority for normal ISRs.
*/
#if CORTEX_ALTERNATE_SWITCH || defined(__DOXYGEN__)
#define CORTEX_MAX_KERNEL_PRIORITY 1
#else
#define CORTEX_MAX_KERNEL_PRIORITY 0
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/ /*===========================================================================*/
#if !defined(_FROM_ASM_) #if !defined(_FROM_ASM_)
@ -170,7 +156,7 @@ typedef void *regarm_t;
to not have duplicated structure names into the documentation.*/ to not have duplicated structure names into the documentation.*/
#if !defined(__DOXYGEN__) #if !defined(__DOXYGEN__)
typedef uint64_t stkalign_t __attribute__ ((aligned (8))); typedef uint64_t stkalign_t;
struct extctx { struct extctx {
regarm_t r0; regarm_t r0;
@ -198,7 +184,7 @@ struct intctx {
#endif /* !defined(__DOXYGEN__) */ #endif /* !defined(__DOXYGEN__) */
/** /**
* @brief Platform dependent part of the @p Thread structure. * @brief Platform dependent part of the @p thread_t structure.
* @details In this port the structure just holds a pointer to the @p intctx * @details In this port the structure just holds a pointer to the @p intctx
* structure representing the stack pointer at context switch time. * structure representing the stack pointer at context switch time.
*/ */
@ -206,6 +192,10 @@ struct context {
struct intctx *r13; struct intctx *r13;
}; };
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/** /**
* @brief Platform dependent part of the @p chThdCreateI() API. * @brief Platform dependent part of the @p chThdCreateI() API.
* @details This code usually setup the context switching frame represented * @details This code usually setup the context switching frame represented
@ -228,10 +218,10 @@ struct context {
/** /**
* @brief Computes the thread working area global size. * @brief Computes the thread working area global size.
*/ */
#define THD_WA_SIZE(n) STACK_ALIGN(sizeof(Thread) + \ #define THD_WA_SIZE(n) STACK_ALIGN(sizeof(thread_t) + \
sizeof(struct intctx) + \ sizeof(struct intctx) + \
sizeof(struct extctx) + \ sizeof(struct extctx) + \
(n) + (PORT_INT_REQUIRED_STACK)) (n) + (CH_PORT_INT_REQUIRED_STACK))
/** /**
* @brief Static working area allocation. * @brief Static working area allocation.
@ -270,78 +260,6 @@ struct context {
*/ */
#define PORT_FAST_IRQ_HANDLER(id) void id(void) #define PORT_FAST_IRQ_HANDLER(id) void id(void)
/**
* @brief Port-related initialization code.
*/
#define port_init() { \
SCB_AIRCR = AIRCR_VECTKEY | AIRCR_PRIGROUP(0); \
nvicSetSystemHandlerPriority(HANDLER_PENDSV, \
CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_PENDSV)); \
nvicSetSystemHandlerPriority(HANDLER_SYSTICK, \
CORTEX_PRIORITY_MASK(CORTEX_PRIORITY_SYSTICK)); \
}
/**
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform
* more actions.
*/
#define port_lock() asm volatile ("cpsid i" : : : "memory")
/**
* @brief Kernel-unlock action.
* @details Usually this function just enables interrupts but may perform
* more actions.
*/
#define port_unlock() asm volatile ("cpsie i" : : : "memory")
/**
* @brief Kernel-lock action from an interrupt handler.
* @details This function is invoked before invoking I-class APIs from
* interrupt handlers. The implementation is architecture dependent,
* in its simplest form it is void.
* @note Same as @p port_lock() in this port.
*/
#define port_lock_from_isr() port_lock()
/**
* @brief Kernel-unlock action from an interrupt handler.
* @details This function is invoked after invoking I-class APIs from interrupt
* handlers. The implementation is architecture dependent, in its
* simplest form it is void.
* @note Same as @p port_lock() in this port.
*/
#define port_unlock_from_isr() port_unlock()
/**
* @brief Disables all the interrupt sources.
*/
#define port_disable() asm volatile ("cpsid i" : : : "memory")
/**
* @brief Disables the interrupt sources below kernel-level priority.
*/
#define port_suspend() asm volatile ("cpsid i" : : : "memory")
/**
* @brief Enables all the interrupt sources.
*/
#define port_enable() asm volatile ("cpsie i" : : : "memory")
/**
* @brief Enters an architecture-dependent IRQ-waiting mode.
* @details The function is meant to return when an interrupt becomes pending.
* The simplest implementation is an empty function or macro but this
* would not take advantage of architecture-specific power saving
* modes.
* @note Implemented as an inlined @p WFI instruction.
*/
#if CORTEX_ENABLE_WFI_IDLE || defined(__DOXYGEN__)
#define port_wait_for_interrupt() asm volatile ("wfi" : : : "memory")
#else
#define port_wait_for_interrupt()
#endif
/** /**
* @brief Performs a context switch between two threads. * @brief Performs a context switch between two threads.
* @details This is the most critical code in any port, this function * @details This is the most critical code in any port, this function
@ -356,13 +274,17 @@ struct context {
#define port_switch(ntp, otp) _port_switch(ntp, otp) #define port_switch(ntp, otp) _port_switch(ntp, otp)
#else #else
#define port_switch(ntp, otp) { \ #define port_switch(ntp, otp) { \
register struct intctx *r13 asm ("r13"); \ struct intctx *r13 = (struct intctx *)__get_PSP(); \
if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \ if ((stkalign_t *)(r13 - 1) < otp->p_stklimit) \
chDbgPanic("stack overflow"); \ chSysHalt("stack overflow"); \
_port_switch(ntp, otp); \ _port_switch(ntp, otp); \
} }
#endif #endif
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
@ -370,12 +292,137 @@ extern "C" {
void _port_irq_epilogue(regarm_t lr); void _port_irq_epilogue(regarm_t lr);
void _port_switch_from_isr(void); void _port_switch_from_isr(void);
void _port_exit_from_isr(void); void _port_exit_from_isr(void);
void _port_switch(Thread *ntp, Thread *otp); void _port_switch(thread_t *ntp, thread_t *otp);
void _port_thread_start(void); void _port_thread_start(void);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief Port-related initialization code.
*/
static inline void port_init(void) {
NVIC_SetPriority(PendSV_IRQn, CORTEX_PRIORITY_PENDSV);
}
/**
* @brief Returns a word encoding the current interrupts status.
*
* @return The interrupts status.
*/
static inline syssts_t port_get_irq_status(void) {
return __get_PRIMASK();
}
/**
* @brief Checks the interrupt status.
*
* @param[in] sts the interrupt status word
*
* @return The interrupt status.
* @retvel false the word specified a disabled interrupts status.
* @retvel true the word specified an enabled interrupts status.
*/
static inline bool port_irq_enabled(syssts_t sts) {
return (sts & 1) == 0;
}
/**
* @brief Determines the current execution context.
*
* @return The execution context.
* @retval false not running in ISR mode.
* @retval true running in ISR mode.
*/
static inline bool port_is_isr_context(void) {
return (bool)((__get_IPSR() & 0x1FF) != 0);
}
/**
* @brief Kernel-lock action.
* @details In this port this function disables interrupts globally.
*/
static inline void port_lock(void) {
__disable_irq();
}
/**
* @brief Kernel-unlock action.
* @details In this port this function enables interrupts globally.
*/
static inline void port_unlock(void) {
__enable_irq();
}
/**
* @brief Kernel-lock action from an interrupt handler.
* @details In this port this function disables interrupts globally.
* @note Same as @p port_lock() in this port.
*/
static inline void port_lock_from_isr(void) {
port_lock();
}
/**
* @brief Kernel-unlock action from an interrupt handler.
* @details In this port this function enables interrupts globally.
* @note Same as @p port_lock() in this port.
*/
static inline void port_unlock_from_isr(void) {
port_unlock();
}
/**
* @brief Disables all the interrupt sources.
*/
static inline void port_disable(void) {
__disable_irq();
}
/**
* @brief Disables the interrupt sources below kernel-level priority.
*/
static inline void port_suspend(void) {
__disable_irq();
}
/**
* @brief Enables all the interrupt sources.
*/
static inline void port_enable(void) {
__enable_irq();
}
/**
* @brief Enters an architecture-dependent IRQ-waiting mode.
* @details The function is meant to return when an interrupt becomes pending.
* The simplest implementation is an empty function or macro but this
* would not take advantage of architecture-specific power saving
* modes.
* @note Implemented as an inlined @p WFI instruction.
*/
static inline void port_wait_for_interrupt(void) {
#if CORTEX_ENABLE_WFI_IDLE
__WFI;
#endif
}
#endif /* _FROM_ASM_ */ #endif /* _FROM_ASM_ */
#endif /* _CHCORE_V6M_H_ */ #endif /* _CHCORE_V6M_H_ */

21
os/rt/ports/ARMCMx/chcore_v7m.h
View File

@ -472,9 +472,8 @@ static inline bool port_is_isr_context(void) {
/** /**
* @brief Kernel-lock action. * @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform * @details In this port this function raises the base priority to kernel
* more actions. * level.
* @note In this port this it raises the base priority to kernel level.
*/ */
static inline void port_lock(void) { static inline void port_lock(void) {
@ -487,9 +486,8 @@ static inline void port_lock(void) {
/** /**
* @brief Kernel-unlock action. * @brief Kernel-unlock action.
* @details Usually this function just enables interrupts but may perform * @details In this port this function lowers the base priority to user
* more actions. * level.
* @note In this port this it lowers the base priority to user level.
*/ */
static inline void port_unlock(void) { static inline void port_unlock(void) {
@ -502,9 +500,8 @@ static inline void port_unlock(void) {
/** /**
* @brief Kernel-lock action from an interrupt handler. * @brief Kernel-lock action from an interrupt handler.
* @details This function is invoked before invoking I-class APIs from * @details In this port this function raises the base priority to kernel
* interrupt handlers. The implementation is architecture dependent, * level.
* in its simplest form it is void.
* @note Same as @p port_lock() in this port. * @note Same as @p port_lock() in this port.
*/ */
static inline void port_lock_from_isr(void) { static inline void port_lock_from_isr(void) {
@ -514,9 +511,8 @@ static inline void port_lock_from_isr(void) {
/** /**
* @brief Kernel-unlock action from an interrupt handler. * @brief Kernel-unlock action from an interrupt handler.
* @details This function is invoked after invoking I-class APIs from interrupt * @details In this port this function lowers the base priority to user
* handlers. The implementation is architecture dependent, in its * level.
* simplest form it is void.
* @note Same as @p port_unlock() in this port. * @note Same as @p port_unlock() in this port.
*/ */
static inline void port_unlock_from_isr(void) { static inline void port_unlock_from_isr(void) {
@ -526,7 +522,6 @@ static inline void port_unlock_from_isr(void) {
/** /**
* @brief Disables all the interrupt sources. * @brief Disables all the interrupt sources.
* @note Of course non-maskable interrupt sources are not included.
* @note In this port it disables all the interrupt sources by raising * @note In this port it disables all the interrupt sources by raising
* the priority mask to level 0. * the priority mask to level 0.
*/ */

61
os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s
View File

@ -44,14 +44,10 @@
.set CONTEXT_OFFSET, 12 .set CONTEXT_OFFSET, 12
.set SCB_ICSR, 0xE000ED04 .set SCB_ICSR, 0xE000ED04
.set ICSR_PENDSVSET, 0x10000000 .set ICSR_PENDSVSET, 0x10000000
.set ICSR_NMIPENDSET, 0x80000000
.syntax unified .cpu cortex-m0
.cpu cortex-m4 .fpu softvfp
#if CORTEX_USE_FPU
.fpu fpv4-sp-d16
#else
.fpu softvfp
#endif
.thumb .thumb
.text .text
@ -62,16 +58,22 @@
.thumb_func .thumb_func
.globl _port_switch .globl _port_switch
_port_switch: _port_switch:
push {r4, r5, r6, r7, r8, r9, r10, r11, lr} push {r4, r5, r6, r7, lr}
#if CORTEX_USE_FPU mov r4, r8
vpush {s16-s31} mov r5, r9
#endif mov r6, r10
str sp, [r1, #CONTEXT_OFFSET] mov r7, r11
ldr sp, [r0, #CONTEXT_OFFSET] push {r4, r5, r6, r7}
#if CORTEX_USE_FPU mov r3, sp
vpop {s16-s31} str r3, [r1, #CONTEXT_OFFSET]
#endif ldr r3, [r0, #CONTEXT_OFFSET]
pop {r4, r5, r6, r7, r8, r9, r10, r11, pc} mov sp, r3
pop {r4, r5, r6, r7}
mov r8, r4
mov r9, r5
mov r10, r6
mov r11, r7
pop {r4, r5, r6, r7, pc}
/*--------------------------------------------------------------------------* /*--------------------------------------------------------------------------*
* Start a thread by invoking its work function. * Start a thread by invoking its work function.
@ -90,12 +92,7 @@ _port_thread_start:
#if CH_DBG_STATISTICS #if CH_DBG_STATISTICS
bl _stats_stop_measure_crit_thd bl _stats_stop_measure_crit_thd
#endif #endif
#if !CORTEX_SIMPLIFIED_PRIORITY
movs r3, #0
msr BASEPRI, r3
#else /* CORTEX_SIMPLIFIED_PRIORITY */
cpsie i cpsie i
#endif /* CORTEX_SIMPLIFIED_PRIORITY */
mov r0, r5 mov r0, r5
blx r4 blx r4
bl chThdExit bl chThdExit
@ -123,17 +120,21 @@ _port_switch_from_isr:
#endif #endif
.globl _port_exit_from_isr .globl _port_exit_from_isr
_port_exit_from_isr: _port_exit_from_isr:
#if CORTEX_SIMPLIFIED_PRIORITY ldr r3, .L2
movw r3, #:lower16:SCB_ICSR ldr r2, .L3
movt r3, #:upper16:SCB_ICSR #if CORTEX_ALTERNATE_SWITCH
mov r2, ICSR_PENDSVSET
str r2, [r3, #0]
cpsie i cpsie i
#else /* !CORTEX_SIMPLIFIED_PRIORITY */ #endif
svc #0
#endif /* !CORTEX_SIMPLIFIED_PRIORITY */
.L1: b .L1 .L1: b .L1
.align 2
.L2: .word SCB_ICSR
#if CORTEX_ALTERNATE_SWITCH
.L3: .word ICSR_PENDSVSET
#else
.L3: .word ICSR_NMIPENDSET
#endif
#endif /* !defined(__DOXYGEN__) */ #endif /* !defined(__DOXYGEN__) */
/** @} */ /** @} */

6
os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s
View File

@ -46,11 +46,11 @@
.set ICSR_PENDSVSET, 0x10000000 .set ICSR_PENDSVSET, 0x10000000
.syntax unified .syntax unified
.cpu cortex-m4 .cpu cortex-m4
#if CORTEX_USE_FPU #if CORTEX_USE_FPU
.fpu fpv4-sp-d16 .fpu fpv4-sp-d16
#else #else
.fpu softvfp .fpu softvfp
#endif #endif
.thumb .thumb

7
os/rt/ports/ARMCMx/compilers/GCC/ld/STM32F051x8.ld
View File

@ -16,13 +16,6 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. 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.
*/ */
/* /*

6
os/rt/ports/ARMCMx/devices/STM32F0xx/cmparams.h
View File

@ -66,7 +66,11 @@
/* Including the device CMSIS header. Note, we are not using the definitions /* Including the device CMSIS header. Note, we are not using the definitions
from this header because we need this file to be usable also from from this header because we need this file to be usable also from
assembler source files. We verify that the info matches instead.*/ assembler source files. We verify that the info matches instead.*/
#include "stm32f30x.h" #include "stm32f0xx.h"
#if !CORTEX_HAS_MPU != !__MPU_PRESENT
#error "CMSIS __MPU_PRESENT mismatch"
#endif
#if CORTEX_PRIORITY_BITS != __NVIC_PRIO_BITS #if CORTEX_PRIORITY_BITS != __NVIC_PRIO_BITS
#error "CMSIS __NVIC_PRIO_BITS mismatch" #error "CMSIS __NVIC_PRIO_BITS mismatch"

8
os/rt/ports/ARMCMx/devices/STM32F0xx/port.mk
View File

@ -1,14 +1,14 @@
# List of the ChibiOS/RT Cortex-M4 STM32F30x port files. # List of the ChibiOS/RT Cortex-M0 STM32F0xx port files.
PORTSRC = ${CHIBIOS}/os/rt/ports/ARMCMx/chcore.c \ PORTSRC = ${CHIBIOS}/os/rt/ports/ARMCMx/chcore.c \
${CHIBIOS}/os/rt/ports/ARMCMx/chcore_v7m.c \ ${CHIBIOS}/os/rt/ports/ARMCMx/chcore_v6m.c \
$(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/crt0.c \ $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/crt0.c \
$(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/vectors.c \ $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/vectors.c \
PORTASM = $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s PORTASM = $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s
PORTINC = ${CHIBIOS}/os/rt/ports/ARMCMx \ PORTINC = ${CHIBIOS}/os/rt/ports/ARMCMx \
${CHIBIOS}/os/rt/ports/ARMCMx/CMSIS/include \ ${CHIBIOS}/os/rt/ports/ARMCMx/CMSIS/include \
${CHIBIOS}/os/rt/ports/ARMCMx/compilers/GCC \ ${CHIBIOS}/os/rt/ports/ARMCMx/compilers/GCC \
${CHIBIOS}/os/rt/ports/ARMCMx/devices/STM32F30x ${CHIBIOS}/os/rt/ports/ARMCMx/devices/STM32F0xx
PORTLD = ${CHIBIOS}/os/rt/ports/ARMCMx/compilers/GCC/ld PORTLD = ${CHIBIOS}/os/rt/ports/ARMCMx/compilers/GCC/ld

4
os/rt/src/chtm.c
View File

@ -128,8 +128,6 @@ NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
tm_stop(tmp, chSysGetRealtimeCounterX(), ch.measurement_offset); tm_stop(tmp, chSysGetRealtimeCounterX(), ch.measurement_offset);
} }
#endif /* CH_CFG_USE_TM */
/** /**
* @brief Stops a measurement and chains to the next one using the same time * @brief Stops a measurement and chains to the next one using the same time
* stamp. * stamp.
@ -152,4 +150,6 @@ NOINLINE void chTMChainMeasurementToX(time_measurement_t *tmp1,
tm_stop(tmp1, tmp2->last, 0); tm_stop(tmp1, tmp2->last, 0);
} }
#endif /* CH_CFG_USE_TM */
/** @} */ /** @} */