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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1820 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2010-03-31 15:13:55 +00:00
parent 77ae91f021
commit 4bc04c7835
9 changed files with 204 additions and 77 deletions
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4
docs/Doxyfile
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@ -600,8 +600,10 @@ INPUT = ../docs/src \
../os/ports/GCC/ARM7 \
../os/ports/GCC/ARM7/crt0.s \
../os/ports/GCC/ARM7/chcoreasm.s \
../os/ports/GCC/ARMCMx \
../os/ports/GCC/ARMCMx/crt0.s \
../os/ports/GCC/ARMCMx/STM32F10x \
../os/ports/GCC/ARMCM3 \
../os/ports/GCC/ARMCM3/crt0.s \
../os/ports/GCC/ARMCM3\STM32F103 \
../os/ports/GCC/PPC \
../os/ports/GCC/PPC/crt0.s \

1
os/ports/GCC/ARMCM3/port.dox
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@ -158,7 +158,6 @@
* - @p _bss_end BSS end location +1.
* .
* @ingroup ARMCM3
* @file ARMCM3/crt0.s Startup code.
*/
/**

25
os/ports/GCC/ARMCMx/chcore.c
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@ -19,7 +19,7 @@
/**
* @file ARMCMx/chcore.c
* @brief ARM Cortex-Mx architecture port code.
* @brief ARM Cortex-Mx port code.
*
* @addtogroup ARMCMx_CORE
* @{
@ -165,14 +165,21 @@ void _port_switch_from_irq(void) {
__attribute__((naked))
#endif
void port_switch(Thread *ntp, Thread *otp) {
register struct intctx *sp_thd asm ("sp");
register struct intctx *r13 asm ("r13");
PUSH_CONTEXT(sp_thd);
/* Stack overflow check, if enabled.*/
#if CH_DBG_ENABLE_STACK_CHECK
if ((void *)(r13 - 1) < (void *)(otp + 1))
asm volatile ("movs r0, #0 \n\t"
"b chDbgPanic");
#endif /* CH_DBG_ENABLE_STACK_CHECK */
otp->p_ctx.r13 = sp_thd;
sp_thd = ntp->p_ctx.r13;
PUSH_CONTEXT(r13);
POP_CONTEXT(sp_thd);
otp->p_ctx.r13 = r13;
r13 = ntp->p_ctx.r13;
POP_CONTEXT(r13);
}
/**
@ -182,9 +189,9 @@ void port_switch(Thread *ntp, Thread *otp) {
*/
void _port_thread_start(void) {
asm volatile ("cpsie i \n\t" \
"mov r0, r5 \n\t" \
"blx r4 \n\t" \
asm volatile ("cpsie i \n\t" \
"mov r0, r5 \n\t" \
"blx r4 \n\t" \
"bl chThdExit");
}

109
os/ports/GCC/ARMCMx/chcore.h
View File

@ -19,7 +19,7 @@
/**
* @file ARMCMx/chcore.h
* @brief ARM Cortex-Mx architecture port macros and structures.
* @brief ARM Cortex-Mx port macros and structures.
*
* @addtogroup ARMCMx_CORE
* @{
@ -49,14 +49,16 @@
/* Inclusion of the Cortex-Mx implementation specific parameters.*/
#include "cmparams.h"
/* Cortex model check, only M0 and M3 right now.*/
/* Cortex model check, only M0 and M3 supported right now.*/
#if (CORTEX_MODEL == CORTEX_M0) || (CORTEX_MODEL == CORTEX_M3)
#elif (CORTEX_MODEL == CORTEX_M1) || (CORTEX_MODEL == CORTEX_M4)
#warning "untested Cortex-M model"
#else
#error "unknown or unsupported Cortex-M model"
#endif
/*===========================================================================*/
/* Port derived parameters. */
/* Port statically derived parameters. */
/*===========================================================================*/
/**
@ -114,8 +116,8 @@
/**
* @brief SYSTICK handler priority.
* @note The default is calculated as the priority level in the middle
* of the priority range.
* @note The default priority is calculated as the priority level in
* the middle of the numeric priorities range.
*/
#ifndef CORTEX_PRIORITY_SYSTICK
#define CORTEX_PRIORITY_SYSTICK (CORTEX_PRIORITY_LEVELS >> 1)
@ -126,13 +128,67 @@
#endif
#endif
/**
* @brief Priority masking support.
* @details The ARMv7-M architecture is capable to mask only interrupt
* priorities below or equal to a certain specified priority
* mask. If this option is enabled all the priorities above
* @p CORTEX_BASEPRI_KERNEL (lower numeric values) are not
* affected by the kernel locks and can operate with minimum
* latency.<br>
* This option makes the kernel code a bit larger and slower, if
* your application does not need fast interrups it is recommended
* to keep this option disabled.
*/
#if CORTEX_SUPPORTS_BASEPRI || defined(__DOXYGEN__)
#if !defined(CORTEX_USE_BASEPRI) || defined(__DOXYGEN__)
#define CORTEX_USE_BASEPRI FALSE
#endif /* !defined(CORTEX_USE_BASEPRI) */
#else /* !CORTEX_SUPPORTS_BASEPRI */
#if defined(CORTEX_USE_BASEPRI) && CORTEX_USE_BASEPRI
#error "BASEPRI priority masking register not supported in this architecture"
#endif
#define CORTEX_USE_BASEPRI FALSE
#endif /* !CORTEX_SUPPORTS_BASEPRI */
#if CORTEX_USE_BASEPRI || defined(__DOXYGEN__)
/**
* @brief BASEPRI user level.
* @note This constant is defined only if the @p CORTEX_USE_BASEPRI port
* option is enabled.
*/
#ifndef CORTEX_BASEPRI_USER
#define CORTEX_BASEPRI_USER CORTEX_PRIORITY_MASK(0)
#endif
/**
* @brief BASEPRI level within kernel lock.
* @details Priority levels higher than this one (lower numeric values) are
* unaffected by kernel locks and can be classified as fast
* interrupt sources, see @ref interrupt_classes.
* @note This constant is defined only if the @p CORTEX_USE_BASEPRI port
* option is enabled.
* @note The default setting reserves just the highest priority level
* (@p CORTEX_MAXIMUM_PRIORITY) for fast interrupts, you may redefine
* this setting in order to reserve more levels.
*/
#ifndef CORTEX_BASEPRI_KERNEL
#define CORTEX_BASEPRI_KERNEL CORTEX_PRIORITY_MASK(CORTEX_MAXIMUM_PRIORITY+1)
#endif
#endif /* CORTEX_USE_BASEPRI */
/*===========================================================================*/
/* Port exported info. */
/*===========================================================================*/
/**
* @brief Macro defining a generic ARM architecture.
*/
#define CH_ARCHITECTURE_ARM
#if defined(__DOXYGEN__)
/**
* @brief Macro defining the ARM architecture.
* @brief Macro defining the specific ARM architecture.
*/
#define CH_ARCHITECTURE_ARM_vxm
@ -147,7 +203,7 @@
#define CH_CORE_VARIANT_NAME "Cortex-Mx"
#elif CORTEX_MODEL == CORTEX_M4
#define CH_ARCHITECTURE_ARM_v7M
#define CH_ARCHITECTURE_NAME "ARMv7-M"
#define CH_ARCHITECTURE_NAME "ARMv7-ME"
#define CH_CORE_VARIANT_NAME "Cortex-M4"
#elif CORTEX_MODEL == CORTEX_M3
#define CH_ARCHITECTURE_ARM_v7M
@ -364,17 +420,29 @@ struct context {
* @brief Kernel-lock action.
* @details Usually this function just disables interrupts but may perform
* more actions.
* @note In this port it disables all the interrupt sources.
*/
#if CORTEX_USE_BASEPRI
#define port_lock() { \
register uint32_t tmp asm ("r3") = CORTEX_BASEPRI_KERNEL; \
asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \
}
#else /* !CORTEX_USE_BASEPRI */
#define port_lock() asm volatile ("cpsid i")
#endif /* !CORTEX_USE_BASEPRI */
/**
* @brief Kernel-unlock action.
* @details Usually this function just disables interrupts but may perform
* more actions.
* @note In this port it enables all the interrupt sources.
*/
#if CORTEX_USE_BASEPRI
#define port_unlock() { \
register uint32_t tmp asm ("r3") = CORTEX_BASEPRI_USER; \
asm volatile ("msr BASEPRI, %0" : : "r" (tmp)); \
}
#else /* !CORTEX_USE_BASEPRI */
#define port_unlock() asm volatile ("cpsie i")
#endif /* !CORTEX_USE_BASEPRI */
/**
* @brief Kernel-lock action from an interrupt handler.
@ -390,29 +458,40 @@ struct context {
* @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_unlock() in this port.
* @note Same as @p port_lock() in this port.
*/
#define port_unlock_from_isr() port_unlock()
/**
* @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.
*/
#define port_disable() asm volatile ("cpsid i")
/**
* @brief Disables the interrupt sources below kernel-level priority.
* @note Interrupt sources above kernel level remains enabled.
* @note In this port it disables all the interrupt sources.
*/
#if CORTEX_USE_BASEPRI
#define port_suspend() { \
register uint32_t tmp asm ("r3") = CORTEX_BASEPRI_KERNEL; \
asm volatile ("msr BASEPRI, %0 \n\t" \
"cpsie i" : : "r" (tmp)); \
}
#else /* !CORTEX_USE_BASEPRI */
#define port_suspend() asm volatile ("cpsid i")
#endif /* !CORTEX_USE_BASEPRI */
/**
* @brief Enables all the interrupt sources.
* @note In this port it enables all the interrupt sources.
*/
#if CORTEX_USE_BASEPRI
#define port_enable() { \
register uint32_t tmp asm ("r3") = CORTEX_BASEPRI_USER; \
asm volatile ("msr BASEPRI, %0 \n\t" \
"cpsie i" : : "r" (tmp)); \
}
#else /* !CORTEX_USE_BASEPRI */
#define port_enable() asm volatile ("cpsie i")
#endif /* !CORTEX_USE_BASEPRI */
/**
* @brief Enters an architecture-dependent IRQ-waiting mode.

7
os/ports/GCC/ARMCMx/chtypes.h
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@ -18,8 +18,9 @@
*/
/**
* @file ARMCMx/chtypes.h
* @brief ARM Cortex-M3 architecture port system types.
* @file ARMCMx/chtypes.h
* @brief ARM Cortex-Mx port system types.
*
* @addtogroup ARMCMx_CORE
* @{
*/
@ -32,9 +33,7 @@
#define __need_ptrdiff_t
#include <stddef.h>
#if !defined(_STDINT_H) && !defined(__STDINT_H_)
#include <stdint.h>
#endif
typedef int32_t bool_t; /**< Fast boolean type. */
typedef uint8_t tmode_t; /**< Thread flags. */

4
os/ports/GCC/ARMCMx/crt0.s
View File

@ -73,7 +73,7 @@ ResetHandler:
ldr r3, =_edata
dloop:
cmp r2, r3
#if CORTEX_MODEL == CORTEX_M0
#if (CORTEX_MODEL == CORTEX_M0) || (CORTEX_MODEL == CORTEX_M1)
bge enddloop
ldr r0, [r1]
str r0, [r2]
@ -96,7 +96,7 @@ enddloop:
ldr r2, =_bss_end
bloop:
cmp r1, r2
#if CORTEX_MODEL == CORTEX_M0
#if (CORTEX_MODEL == CORTEX_M0) || (CORTEX_MODEL == CORTEX_M1)
bge endbloop
str r0, [r1]
adds r1, r1, #4

12
os/ports/GCC/ARMCMx/nvic.c
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@ -18,8 +18,9 @@
*/
/**
* @file ARMCMx/nvic.c
* @brief Cortex-Mx NVIC support code.
* @file ARMCMx/nvic.c
* @brief Cortex-Mx NVIC support code.
*
* @addtogroup ARMCMx_NVIC
* @{
*/
@ -31,7 +32,7 @@
* @brief Sets the priority of an interrupt handler and enables it.
*
* @param n the interrupt number
* @param prio the interrupt priority
* @param prio the interrupt priority mask
*
* @note The parameters are not tested for correctness.
*/
@ -61,13 +62,14 @@ void NVICDisableVector(uint32_t n) {
* @brief Changes the priority of a system handler.
*
* @param handler the system handler number
* @param prio the system handler priority
* @param prio the system handler priority mask
* @note The parameters are not tested for correctness.
*/
void NVICSetSystemHandlerPriority(uint32_t handler, uint32_t prio) {
unsigned sh = (handler & 3) * 8;
SCB_SHPR(handler >> 2) = (SCB_SHPR(handler >> 2) & ~(0xFF << sh)) | (prio << sh);
SCB_SHPR(handler >> 2) = (SCB_SHPR(handler >> 2) &
~(0xFF << sh)) | (prio << sh);
}
/** @} */

23
os/ports/GCC/ARMCMx/nvic.h
View File

@ -18,8 +18,9 @@
*/
/**
* @file ARMCMx/nvic.h
* @brief Cortex-Mx NVIC support macros and structures.
* @file ARMCMx/nvic.h
* @brief Cortex-Mx NVIC support macros and structures.
*
* @addtogroup ARMCMx_NVIC
* @{
*/
@ -30,21 +31,21 @@
/*
* System vector constants for @p NVICSetSystemHandlerPriority().
*/
#define HANDLER_MEM_MANAGE 0 /**< MEM MANAGE vector id.*/
#define HANDLER_BUS_FAULT 1 /**< BUS FAULT vector id.*/
#define HANDLER_USAGE_FAULT 2 /**< USAGE FAULT vector id.*/
#define HANDLER_MEM_MANAGE 0 /**< MEM MANAGE vector id. */
#define HANDLER_BUS_FAULT 1 /**< BUS FAULT vector id. */
#define HANDLER_USAGE_FAULT 2 /**< USAGE FAULT vector id. */
#define HANDLER_RESERVED_3 3
#define HANDLER_RESERVED_4 4
#define HANDLER_RESERVED_5 5
#define HANDLER_RESERVED_6 6
#define HANDLER_SVCALL 7 /**< SVCALL vector id.*/
#define HANDLER_DEBUG_MONITOR 8 /**< DEBUG MONITOR vector id.*/
#define HANDLER_SVCALL 7 /**< SVCALL vector id. */
#define HANDLER_DEBUG_MONITOR 8 /**< DEBUG MONITOR vector id. */
#define HANDLER_RESERVED_9 9
#define HANDLER_PENDSV 10 /**< PENDSV vector id.*/
#define HANDLER_SYSTICK 11 /**< SYS TCK vector id.*/
#define HANDLER_PENDSV 10 /**< PENDSV vector id. */
#define HANDLER_SYSTICK 11 /**< SYS TCK vector id. */
typedef volatile unsigned char IOREG8; /**< 8 bits I/O register type.*/
typedef volatile unsigned int IOREG32; /**< 32 bits I/O register type.*/
typedef volatile uint8_t IOREG8; /**< 8 bits I/O register type. */
typedef volatile uint32_t IOREG32; /**< 32 bits I/O register type. */
/**
* @brief NVIC ITCR register.

96
os/ports/GCC/ARMCMx/port.dox
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@ -19,17 +19,65 @@
/**
* @defgroup ARMCMx ARM Cortex-Mx
* @details This port supports the ARM Cortex-Mx architectures, specifically
* the Cortex-M0 and the Cortex-M3.
* @details This port supports the ARMv6-M and ARMv7-M architectures (all the
* Cortex-Mx cores).
*
* @section ARMCMx_STATES Mapping of the System States in the ARM Cortex-Mx port
* The ChibiOS/RT logical @ref system_states are mapped as follow in the ARM
* Cortex-Mx port:
* This port supports two IRQ handling modes:
* - <b>IRQ disabling</b>. This is the simplest and most efficient way to
* implement kernel locks, this is done by globally disabling interrupts.
* This mode is available to both the ARMv6-M and ARMv7-M architectures.
* - <b>IRQ priority masking</b>. In this mode kernel locks are implemented by
* raising the priority mask to the @p CORTEX_BASEPRI_KERNEL level. Using
* priority masking it is possible to reserve one or more priority levels
* for use as fast interrupt handlers. This mode is slightly less efficient
* because the lock/unlock code requires two instructions instead of just
* one and is available to the ARMv7-M architecture only (Cortex-M3 and
* Cortex-M4). The advantage in this mode is the availability of very low
* latency priority levels unaffected by the RTOS activity.
* .
* The mapping of the @ref system_states changes depending on the chosen IRQ
* handling mode.
*
* @subsection ARMCMx_STATES_A System logical states in IRQ disabling mode
* - <b>Init</b>. This state is represented by the startup code and the
* initialization code before @p chSysInit() is executed. It has not a
* special hardware state associated.
* - <b>Normal</b>. This is the state the system has after executing
* @p chSysInit(). In this state the ARM Cortex-Mx has the BASEPRI register
* @p chSysInit(). In this state interrupts are enabled. The processor
* is running in thread-privileged mode.
* - <b>Suspended</b>. In this state the interrupt sources are globally
* disabled. The processor is running in thread-privileged mode. In this
* mode this state is not different from the <b>Disabled</b> state.
* - <b>Disabled</b>. In this state the interrupt sources are globally
* disabled. The processor is running in thread-privileged mode. In this
* mode this state is not different from the <b>Suspended</b> state.
* - <b>Sleep</b>. This state is entered with the execution of the specific
* instruction @p <b>wfi</b>.
* - <b>S-Locked</b>. In this state the interrupt sources are globally
* disabled. The processor is running in thread-privileged mode.
* - <b>I-Locked</b>. In this state the interrupt sources are globally
* disabled. The processor is running in exception-privileged mode.
* - <b>Serving Regular Interrupt</b>. In this state the interrupt sources are
* not globally masked but only interrupts with higher priority can preempt
* the current handler. The processor is running in exception-privileged
* mode.
* - <b>Serving Fast Interrupt</b>. This state is not implemented in this mode.
* - <b>Serving Non-Maskable Interrupt</b>. The Cortex-M3 has a specific
* asynchronous NMI vector and several synchronous fault vectors that can
* be considered belonging to this category.
* - <b>Halted</b>. Implemented as an infinite loop after globally masking all
* the maskable interrupt sources. The ARM state is whatever the processor
* was running when @p chSysHalt() was invoked.
*
* @subsection ARMCMx_STATES_B System logical states in IRQ priority masking mode
* The ChibiOS/RT logical @ref system_states are mapped as follow in the ARM
* Cortex-M3 port:
* - <b>Init</b>. This state is represented by the startup code and the
* initialization code before @p chSysInit() is executed. It has not a
* special hardware state associated.
* - <b>Normal</b>. This is the state the system has after executing
* @p chSysInit(). In this state the ARM Cortex-M3 has the BASEPRI register
* set at @p CORTEX_BASEPRI_USER level, interrupts are not masked. The
* processor is running in thread-privileged mode.
* - <b>Suspended</b>. In this state the interrupt sources are not globally
@ -50,13 +98,14 @@
* is running in exception-privileged mode.
* - <b>Serving Regular Interrupt</b>. In this state the interrupt sources are
* not globally masked but only interrupts with higher priority can preempt
* the current handler. The processor is running in exception-privileged mode.
* the current handler. The processor is running in exception-privileged
* mode.
* - <b>Serving Fast Interrupt</b>. It is basically the same of the SRI state
* but it is not possible to switch to the I-Locked state because fast
* interrupts can preempt the kernel critical zone.
* - <b>Serving Non-Maskable Interrupt</b>. The Cortex-Mx has a specific
* - <b>Serving Non-Maskable Interrupt</b>. The Cortex-M3 has a specific
* asynchronous NMI vector and several synchronous fault vectors that can
* be considered to be in this category.
* be considered belonging to this category.
* - <b>Halted</b>. Implemented as an infinite loop after globally masking all
* the maskable interrupt sources. The ARM state is whatever the processor
* was running when @p chSysHalt() was invoked.
@ -66,18 +115,8 @@
* - The @p main() function is invoked in thread-privileged mode.
* - Each thread has a private process stack, the system has a single main
* stack where all the interrupts and exceptions are processed.
* - Only the 4 MSb of the priority level are used, the 4 LSb are assumed
* to be zero.
* - The threads are started in thread-privileged mode with BASEPRI level
* 0x00 (disabled).
* - The kernel raises its BASEPRI level to @p CORTEX_BASEPRI_KERNEL in order
* to protect the kernel data structures.
* - Interrupt nesting and the other advanced NVIC features are supported.
* - The SVC instruction and vector, with parameter #0, is internally used
* for commanded context switching.<br>
* It is possible to share the SVC handler at the cost of slower context
* switching.
* - The PendSV vector is internally used for preemption context switching.
* - The threads are started in thread-privileged mode.
* - Interrupt nesting and the other advanced core/NVIC features are supported.
* .
* @ingroup ports
*/
@ -85,7 +124,7 @@
/**
* @defgroup ARMCMx_CONF Configuration Options
* @brief ARM Cortex-Mx Configuration Options.
* @details The ARMCMx port allows some architecture-specific configurations
* @details The ARMCM3 port allows some architecture-specific configurations
* settings that can be specified externally, as example on the compiler
* command line:
* - @p INT_REQUIRED_STACK, this value represent the amount of stack space used
@ -97,18 +136,18 @@
* - @p CORTEX_BASEPRI_USER, this is the @p BASEPRI value for the user threads.
* The default value is @p 0 (disabled).<br>
* Usually there is no need to change this value, please refer to the
* Cortex-Mx technical reference manual for a detailed description.
* Cortex-M3 technical reference manual for a detailed description.
* - @p CORTEX_BASEPRI_KERNEL, this is the @p BASEPRI value for the kernel lock
* code.<br>
* Code running at higher priority levels must not invoke any OS API.<br>
* Usually there is no need to change this value, please refer to the
* Cortex-Mx technical reference manual for a detailed description.
* - @p ENABLE_WFI_IDLE, if set to @p 1 enables the use of the @p <b>wfi</b>
* instruction from within the idle loop. This is defaulted to 0 because
* it can create problems with some debuggers. Setting this option to 1
* reduces the system power requirements.
* Cortex-M3 technical reference manual for a detailed description.
* - @p CORTEX_ENABLE_WFI_IDLE, if set to @p 1 enables the use of the
* @p <b>wfi</b> instruction from within the idle loop. This is defaulted to
* 0 because it can create problems with some debuggers. Setting this option
* to 1 reduces the system power requirements.
* .
* @ingroup ARMCMx
* @ingroup ARMCM3
*/
/**
@ -159,7 +198,6 @@
* - @p _bss_end BSS end location +1.
* .
* @ingroup ARMCMx
* @file ARMCMx/crt0.s Startup code.
*/
/**