175 lines
6.1 KiB
C
175 lines
6.1 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @addtogroup ARMCM3_CORE
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* @{
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*/
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#include <ch.h>
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#include <nvic.h>
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/**
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* The default implementation of this function is void so no messages are
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* actually printed.
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* @note The function is declared as a weak symbol, it is possible to redefine
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* it in your application code.
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* @param msg pointer to the message string
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*/
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__attribute__((weak))
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void sys_puts(char *msg) {
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}
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void sys_halt(void) {
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asm volatile ("cpsid i");
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while (TRUE) {
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}
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}
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/**
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* Start a thread by invoking its work function.
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* If the work function returns @p chThdExit() is automatically invoked. A call
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* to @p chSysHalt() is added as failure check in the "impossible" case
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* @p chThdExit() returns.
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*/
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__attribute__((naked, weak))
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void threadstart(void) {
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asm volatile ("blx r1 \n\t" \
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"bl chThdExit \n\t" \
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"bl chSysHalt ");
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}
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/**
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* System Timer vector.
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* This interrupt is used as system tick.
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* @note The timer is initialized in the board setup code.
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*/
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SYS_IRQ_HANDLER void SysTickVector(void) {
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chSysIRQEnterI();
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chSysLockI();
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chSysTimerHandlerI();
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chSysUnlockI();
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chSysIRQExitI();
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}
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/**
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* The SVC vector is used for commanded context switch.
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*/
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__attribute__((naked))
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void SVCallVector(Thread *otp, Thread *ntp) {
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/* { r0 = otp, r1 = ntp } */
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/* get the BASEPRI in r3 */
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/* get the PSP in r12 */
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/* push the registers on the PSP stack */
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/* stores the modified PSP into the thread context */
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/* fetches the PSP position from the new thread context */
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/* pop the registers from the PSP stack */
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/* set the PSP from r12 */
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/* set the BASEPRI from R3 */
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#ifdef CH_CURRP_REGISTER_CACHE
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asm volatile ("mrs r3, BASEPRI \n\t" \
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"mrs r12, PSP \n\t" \
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"stmdb r12!, {r3-r6,r8-r11, lr} \n\t" \
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"str r12, [r0, #16] \n\t" \
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"ldr r12, [r1, #16] \n\t" \
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"ldmia r12!, {r3-r6,r8-r11, lr} \n\t" \
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"msr PSP, r12 \n\t" \
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"msr BASEPRI, r3 \n\t" \
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"bx lr ");
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#else
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asm volatile ("mrs r3, BASEPRI \n\t" \
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"mrs r12, PSP \n\t" \
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"stmdb r12!, {r3-r11, lr} \n\t" \
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"str r12, [r0, #16] \n\t" \
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"ldr r12, [r1, #16] \n\t" \
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"ldmia r12!, {r3-r11, lr} \n\t" \
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"msr PSP, r12 \n\t" \
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"msr BASEPRI, r3 \n\t" \
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"bx lr ");
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#endif
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}
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#ifdef CH_CURRP_REGISTER_CACHE
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#define PUSH_CONTEXT(sp) { \
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register uint32_t tmp asm ("r3") = BASEPRI_USER; \
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asm volatile ("mrs %0, PSP \n\t" \
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"stmdb %0!, {r3-r6,r8-r11, lr}" : \
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"=r" (sp) : "r" (sp), "r" (tmp)); \
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}
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#define POP_CONTEXT(sp) { \
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asm volatile ("ldmia %0!, {r3-r6,r8-r11, lr} \n\t" \
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"msr PSP, %0 \n\t" \
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"msr BASEPRI, r3 \n\t" \
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"bx lr" : "=r" (sp) : "r" (sp)); \
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}
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#else
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#define PUSH_CONTEXT(sp) { \
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register uint32_t tmp asm ("r3") = BASEPRI_USER; \
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asm volatile ("mrs %0, PSP \n\t" \
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"stmdb %0!, {r3-r11,lr}" : \
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"=r" (sp) : "r" (sp), "r" (tmp)); \
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}
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#define POP_CONTEXT(sp) { \
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asm volatile ("ldmia %0!, {r3-r11, lr} \n\t" \
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"msr PSP, %0 \n\t" \
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"msr BASEPRI, r3 \n\t" \
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"bx lr" : "=r" (sp) : "r" (sp)); \
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}
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#endif
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/**
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* Preemption invoked context switch.
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*/
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__attribute__((naked))
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void PendSVVector(void) {
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Thread *otp;
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register struct intctx *sp_thd asm("r12");
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chSysLockI();
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asm volatile ("push {lr}");
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if (!chSchRescRequiredI()) {
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chSysUnlockI();
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asm volatile ("pop {pc}");
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}
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asm volatile ("pop {lr}");
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PUSH_CONTEXT(sp_thd);
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(otp = currp)->p_ctx.r13 = sp_thd;
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(currp = fifo_remove((void *)&rlist))->p_state = PRCURR;
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chSchReadyI(otp);
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#ifdef CH_USE_ROUNDROBIN
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/* set the round-robin time quantum */
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rlist.r_preempt = CH_TIME_QUANTUM;
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#endif
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#ifdef CH_USE_TRACE
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chDbgTrace(otp, currp);
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#endif
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sp_thd = currp->p_ctx.r13;
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POP_CONTEXT(sp_thd);
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}
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/** @} */
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