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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6255 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2013-09-03 13:21:10 +00:00
parent ed4c276d6e
commit fa8b45cc5b
13 changed files with 248 additions and 219 deletions
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2
demos/nil/NIL-STM32F051-DISCOVERY/Makefile
View File

@ -64,7 +64,7 @@ CHIBIOS = ../../..
#include $(CHIBIOS)/os/hal/ports/STM32F0xx/platform.mk
include $(CHIBIOS)/os/nil/nil.mk
#include $(CHIBIOS)/os/rt/osal/osal.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f0xx.mk
include $(CHIBIOS)/os/nil/ports/ARMCMx/compilers/GCC/mk/port_stm32f0xx.mk
#include $(CHIBIOS)/test/test.mk
# Define linker script file here

19
demos/nil/NIL-STM32F051-DISCOVERY/main.c
View File

@ -18,20 +18,19 @@
*/
#include "nil.h"
#include "hwinit.h"
/*
* Thread 1.
*/
NIL_WORKING_AREA(waThread1, 128);
NIL_THREAD(Thread1, arg) {
THD_WORKING_AREA(waThread1, 128);
THD_FUNCTION(Thread1, arg) {
(void)arg;
while (true) {
gpioSetPad(GPIOC, GPIOC_LED4);
// gpioSetPad(GPIOC, GPIOC_LED4);
nilThdSleepMilliseconds(500);
gpioClearPad(GPIOC, GPIOC_LED4);
// gpioClearPad(GPIOC, GPIOC_LED4);
nilThdSleepMilliseconds(500);
}
}
@ -39,15 +38,15 @@ NIL_THREAD(Thread1, arg) {
/*
* Thread 2.
*/
NIL_WORKING_AREA(waThread2, 128);
NIL_THREAD(Thread2, arg) {
THD_WORKING_AREA(waThread2, 128);
THD_FUNCTION(Thread2, arg) {
(void)arg;
while (true) {
gpioSetPad(GPIOC, GPIOC_LED3);
// gpioSetPad(GPIOC, GPIOC_LED3);
nilThdSleepMilliseconds(250);
gpioClearPad(GPIOC, GPIOC_LED3);
// gpioClearPad(GPIOC, GPIOC_LED3);
nilThdSleepMilliseconds(250);
}
}
@ -71,7 +70,7 @@ int main(void) {
* - HW specific initialization.
* - Nil RTOS initialization.
*/
hwInit();
// hwInit();
nilSysInit();
/* This is now the idle thread loop, you may perform here a low priority

4
demos/nil/NIL-STM32F051-DISCOVERY/nilconf.h
View File

@ -41,7 +41,7 @@
/**
* @brief System tick frequency.
*/
#define NIL_CFG_FREQUENCY 50000
#define NIL_CFG_FREQUENCY 1000
/**
* @brief Time delta constant for the tick-less mode.
@ -51,7 +51,7 @@
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#define NIL_CFG_TIMEDELTA 2
#define NIL_CFG_TIMEDELTA 0
/**
* @brief System assertions.

309
os/nil/include/nil.h
View File

@ -43,39 +43,21 @@
*/
#define _NIL_ /**< @brief Nil RTOS identification.*/
#define NIL_KERNEL_VERSION "0.0.1" /**< @brief Kernel version string. */
#define NIL_KERNEL_VERSION "0.1.0alpha"
#define NIL_KERNEL_MAJOR 0 /**< @brief Version major number. */
#define NIL_KERNEL_MINOR 0 /**< @brief Version minor number. */
#define NIL_KERNEL_PATCH 1 /**< @brief Version patch number. */
#define NIL_KERNEL_MAJOR 0
#define NIL_KERNEL_MINOR 1
#define NIL_KERNEL_PATCH 0
/** @} */
/**
* @name Common constants
*/
/**
* @brief Generic 'false' boolean constant.
*/
#if !defined(FALSE) || defined(__DOXYGEN__)
#define FALSE 0
#endif
/**
* @brief Generic 'true' boolean constant.
*/
#if !defined(TRUE) || defined(__DOXYGEN__)
#define TRUE !FALSE
#endif
/** @} */
/**
* @name Wakeup status codes
* @name Wakeup messages
* @{
*/
#define NIL_MSG_OK 0 /**< @brief Normal wakeup message. */
#define NIL_MSG_TMO -1 /**< @brief Wake-up caused by a timeout
#define MSG_OK 0 /**< @brief Normal wakeup message. */
#define MSG_TIMEOUT -1 /**< @brief Wake-up caused by a timeout
condition. */
#define NIL_MSG_RST -2 /**< @brief Wake-up caused by a reset
#define MSG_RESET -2 /**< @brief Wake-up caused by a reset
condition. */
/** @} */
@ -295,7 +277,7 @@ typedef struct {
* @note This field is only present if some debug options have been
* activated.
*/
const char *dbg_msg;
const char *dbg_panic_msg;
#endif
} nil_system_t;
@ -303,6 +285,11 @@ typedef struct {
/* Module macros. */
/*===========================================================================*/
/**
* @brief String quotation macro.
*/
#define __NIL_QUOTE(p) #p
/**
* @name Threads tables definition macros
* @{
@ -325,18 +312,153 @@ typedef struct {
#define NIL_THREADS_TABLE_END() \
{"idle", 0, NULL, NULL, 0} \
};
/** @} */
/**
* @name Working Areas and Alignment
*/
/**
* @brief Enforces a correct alignment for a stack area size value.
*
* @param[in] n the stack size to be aligned to the next stack
* alignment boundary
* @return The aligned stack size.
*
* @api
*/
#define THD_ALIGN_STACK_SIZE(n) \
((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
/**
* @brief Calculates the total Working Area size.
*
* @param[in] n the stack size to be assigned to the thread
* @return The total used memory in bytes.
*
* @api
*/
#define THD_WORKING_AREA_SIZE(n) \
THD_ALIGN_STACK_SIZE(sizeof(thread_t) + PORT_WA_SIZE(n))
/**
* @brief Static working area allocation.
* @details This macro is used to allocate a static thread working area
* aligned as both position and size.
*
* @param[in] s the name to be assigned to the stack array
* @param[in] n the stack size to be assigned to the thread
*
* @api
*/
#define THD_WORKING_AREA(s, n) \
stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof(stkalign_t)]
/** @} */
/**
* @name Threads abstraction macros
*/
/**
* @brief Thread declaration macro.
* @note Thread declarations should be performed using this macro because
* the port layer could define optimizations for thread functions.
*/
#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
/** @} */
/**
* @name ISRs abstraction macros
*/
/**
* @brief IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*
* @special
*/
#define NIL_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
/**
* @brief IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
*
* @special
*/
#define NIL_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
* @brief Standard normal IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*
* @special
*/
#define NIL_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
/** @} */
/**
* @name Fast ISRs abstraction macros
*/
/**
* @brief Standard fast IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
* @note Not all architectures support fast interrupts.
*
* @special
*/
#define NIL_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
/** @} */
/**
* @name Time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define S2ST(sec) \
((systime_t)((sec) * NIL_CFG_FREQUENCY))
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define MS2ST(msec) \
((systime_t)(((((uint32_t)(msec)) * ((uint32_t)NIL_CFG_FREQUENCY) - 1UL) /\
1000UL) + 1UL))
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define US2ST(usec) \
((systime_t)(((((uint32_t)(usec)) * ((uint32_t)NIL_CFG_FREQUENCY) - 1UL) /\
1000000UL) + 1UL))
/** @} */
/**
* @name Macro Functions
* @{
*/
/**
* @brief System halt state.
*/
#define nilSysHalt() port_halt()
/**
* @brief Enters the kernel lock mode.
*
@ -525,139 +647,33 @@ typedef struct {
#define nilTimeIsWithin(time, start, end) \
((end) > (start) ? ((time) >= (start)) && ((time) < (end)) : \
((time) >= (start)) || ((time) < (end)))
/** @} */
/**
* @name Threads abstraction macros
*/
/**
* @brief Thread declaration macro.
* @note Thread declarations should be performed using this macro because
* the port layer could define optimizations for thread functions.
*/
#define NIL_THREAD(tname, arg) PORT_THREAD(tname, arg)
#if NIL_CFG_ENABLE_ASSERTS || defined(__DOXYGEN__)
/**
* @brief Condition assertion.
* @details If the condition check fails then the kernel panics with the
* specified message and halts.
* @details If the condition check fails then the kernel panics with a
* message and halts.
* @note The condition is tested only if the @p NIL_CFG_ENABLE_ASSERTS
* switch is specified in @p nilconf.h else the macro does nothing.
* @note The convention for the message is the following:<br>
* @<function_name@>(), #@<assert_number@>
* switch is specified in @p chconf.h else the macro does nothing.
* @note The remark string is not currently used except for putting a
* comment in the code about the assertion.
*
* @param[in] c the condition to be verified to be true
* @param[in] m the text message
* @param[in] r a remark string
*
* @api
*/
#if !defined(nilDbgAssert)
#define nilDbgAssert(c, m, r) { \
if (!(c)) { \
nil.dbg_msg = (m); \
nilSysHalt(); \
} \
#define nilDbgAssert(c, r) { \
if (!(c)) \
nilSysHalt("A:"__NIL_QUOTE(__FUNCTION__)":"__NIL_QUOTE(__LINE__)); \
}
#endif /* !defined(chDbgAssert) */
#endif /* !defined(nilDbgAssert) */
#else /* !NIL_CFG_ENABLE_ASSERTS */
#define nilDbgAssert(c, m, r) {(void)(c);}
#define nilDbgAssert(c, r) /*{(void)(c);}*/
#endif /* !NIL_CFG_ENABLE_ASSERTS */
/** @} */
/**
* @name ISRs abstraction macros
*/
/**
* @brief IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*
* @special
*/
#define NIL_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
/**
* @brief IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
*
* @special
*/
#define NIL_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
* @brief Standard normal IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*
* @special
*/
#define NIL_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
/** @} */
/**
* @name Fast ISRs abstraction macros
*/
/**
* @brief Standard fast IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
* @note Not all architectures support fast interrupts.
*
* @special
*/
#define NIL_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
/** @} */
/**
* @name Time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define S2ST(sec) \
((systime_t)((sec) * NIL_CFG_FREQUENCY))
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define MS2ST(msec) \
((systime_t)(((((uint32_t)(msec)) * ((uint32_t)NIL_CFG_FREQUENCY) - 1UL) /\
1000UL) + 1UL))
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define US2ST(usec) \
((systime_t)(((((uint32_t)(usec)) * ((uint32_t)NIL_CFG_FREQUENCY) - 1UL) /\
1000000UL) + 1UL))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
@ -671,6 +687,7 @@ extern const thread_config_t nil_thd_configs[NIL_CFG_NUM_THREADS + 1];
extern "C" {
#endif
void nilSysInit(void);
void nilSysHalt(const char *reason);
void nilSysTimerHandlerI(void);
thread_ref_t nilSchReadyI(thread_ref_t trp, msg_t msg);
msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);

6
os/nil/ports/ARMCMx/compilers/GCC/niltypes.h
View File

@ -71,6 +71,12 @@ typedef uint32_t ucnt_t; /**< Generic unsigned counter. */
*/
#define NOINLINE __attribute__((noinline))
/**
* @brief Thread function declaration macro optimized for GCC.
*/
#define PORT_THD_FUNCTION(tname, arg) \
__attribute__((noreturn)) void tname(void *arg)
#endif /* _NILTYPES_H_ */
/** @} */

15
os/nil/ports/ARMCMx/nilcore.c
View File

@ -52,19 +52,4 @@
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Halts the system.
* @note The function is declared as a weak symbol, it is possible
* to redefine it in your application code.
*/
#if !defined(__DOXYGEN__)
__attribute__((naked, weak))
#endif
void port_halt(void) {
port_disable();
while (true) {
}
}
/** @} */

2
os/nil/ports/ARMCMx/nilcore_v6m.c
View File

@ -112,7 +112,7 @@ void _port_irq_epilogue(regarm_t lr) {
port_lock_from_isr();
/* The extctx structure is pointed by the PSP register.*/
ctxp = (struct extctx *)__get_PSP();
ctxp = (struct port_extctx *)__get_PSP();
/* Adding an artificial exception return context, there is no need to
populate it fully.*/

19
os/nil/ports/ARMCMx/nilcore_v6m.h
View File

@ -202,13 +202,13 @@ struct context {
* @details This code usually setup the context switching frame represented
* by an @p port_intctx structure.
*/
#define PORT_SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct port_intctx)); \
tp->p_ctx.r13->r4 = (regarm_t)(pf); \
tp->p_ctx.r13->r5 = (regarm_t)(arg); \
tp->p_ctx.r13->lr = (regarm_t)(_port_thread_start); \
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \
(tp)->ctxp = (struct port_intctx *)((uint8_t *)workspace + \
(size_t)wsize - \
sizeof(struct port_intctx)); \
(tp)->ctxp->r4 = (regarm_t)(pf); \
(tp)->ctxp->r5 = (regarm_t)(arg); \
(tp)->ctxp->lr = (regarm_t)(_port_thread_start); \
}
/**
@ -270,8 +270,8 @@ struct context {
}
#endif
#if CH_CFG_TIMEDELTA > 0
#include "chcore_timer.h"
#if NIL_CFG_TIMEDELTA > 0
#include "nilcore_timer.h"
#endif
/*===========================================================================*/
@ -281,7 +281,6 @@ struct context {
#ifdef __cplusplus
extern "C" {
#endif
void port_halt(void);
void _port_irq_epilogue(regarm_t lr);
void _port_switch_from_isr(void);
void _port_exit_from_isr(void);

66
os/nil/src/nil.c
View File

@ -80,7 +80,7 @@ void nilSysInit(void) {
tr->timeout = 0;
/* Port dependent thread initialization.*/
SETUP_CONTEXT(tr, tcp->wap, tcp->size, tcp->funcp, tcp->arg);
PORT_SETUP_CONTEXT(tr, tcp->wap, tcp->size, tcp->funcp, tcp->arg);
/* Initialization hook.*/
#if defined(NIL_CFG_THREAD_EXT_INIT_HOOK)
@ -97,6 +97,35 @@ void nilSysInit(void) {
nilSysEnable();
}
/**
* @brief Halts the system.
* @details This function is invoked by the operating system when an
* unrecoverable error is detected, for example because a programming
* error in the application code that triggers an assertion while
* in debug mode.
* @note Can be invoked from any system state.
*
* @special
*/
void nilSysHalt(const char *reason) {
port_disable();
#if NIL_DBG_ENABLED
nil.dbg_panic_msg = reason;
#else
(void)reason;
#endif
#if defined(NIL_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
NIL_CFG_SYSTEM_HALT_HOOK(reason);
#endif
/* Harmless infinite loop.*/
while (true)
;
}
/**
* @brief Time management handler.
* @note This handler has to be invoked by a periodic ISR in order to
@ -113,8 +142,7 @@ void nilSysTimerHandlerI(void) {
/* Is the thread in a wait state with timeout?.*/
if (tr->timeout > 0) {
nilDbgAssert(!NIL_THD_IS_READY(tr),
"nilSysTimerHandlerI(), #1", "is ready");
nilDbgAssert(!NIL_THD_IS_READY(tr), "is ready");
/* Did the timer reach zero?*/
if (--tr->timeout == 0) {
@ -124,7 +152,7 @@ void nilSysTimerHandlerI(void) {
tr->u1.semp->cnt++;
else if (NIL_THD_IS_SUSP(tr))
tr->u1.trp = NULL;
nilSchReadyI(tr, NIL_MSG_TMO);
nilSchReadyI(tr, MSG_TIMEOUT);
}
}
/* Lock released in order to give a preemption chance on those
@ -194,11 +222,9 @@ thread_ref_t nilSchReadyI(thread_ref_t tr, msg_t msg) {
nilDbgAssert((tr >= nil.threads) &&
(tr < &nil.threads[NIL_CFG_NUM_THREADS]),
"nilSchReadyI(), #1", "pointer out of range");
nilDbgAssert(!NIL_THD_IS_READY(tr),
"nilSchReadyI(), #2", "already ready");
nilDbgAssert(nil.next <= nil.current,
"nilSchReadyI(), #3", "priority ordering");
"pointer out of range");
nilDbgAssert(!NIL_THD_IS_READY(tr), "already ready");
nilDbgAssert(nil.next <= nil.current, "priority ordering");
tr->u1.msg = msg;
tr->state = NIL_THD_READY;
@ -249,7 +275,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
thread_ref_t ntr, otr = nil.current;
nilDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],
"nilSchGoSleepTimeoutS(), #1", "idle cannot sleep");
"idle cannot sleep");
/* Storing the wait object for the current thread.*/
otr->state = newstate;
@ -304,7 +330,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
/* Points to the next thread in lowering priority order.*/
ntr++;
nilDbgAssert(ntr <= &nil.threads[NIL_CFG_NUM_THREADS],
"nilSchGoSleepTimeoutS(), #2", "pointer out of range");
"pointer out of range");
}
}
@ -324,7 +350,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
*/
msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
nilDbgAssert(*trp == NULL, "nilThdSuspendTimeoutS(), #1", "not NULL");
nilDbgAssert(*trp == NULL, "not NULL");
*trp = nil.current;
nil.current->u1.trp = trp;
@ -346,7 +372,7 @@ void nilThdResumeI(thread_ref_t *trp, msg_t msg) {
if (*trp != NULL) {
thread_ref_t tr = *trp;
nilDbgAssert(NIL_THD_IS_SUSP(tr), "nilThdResumeI(), #1", "not suspended");
nilDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");
*trp = NULL;
nilSchReadyI(tr, msg);
@ -476,13 +502,13 @@ msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
cnt_t cnt = sp->cnt;
if (cnt <= 0) {
if (TIME_IMMEDIATE == timeout)
return NIL_MSG_TMO;
return MSG_TIMEOUT;
sp->cnt = cnt - 1;
nil.current->u1.semp = sp;
return nilSchGoSleepTimeoutS(NIL_THD_WTSEM, timeout);
}
sp->cnt = cnt - 1;
return NIL_MSG_OK;
return MSG_OK;
}
/**
@ -523,10 +549,9 @@ void nilSemSignalI(semaphore_t *sp) {
/* Is this thread waiting on this semaphore?*/
if (tr->u1.semp == sp) {
nilDbgAssert(NIL_THD_IS_WTSEM(tr),
"nilSemSignalI(), #1", "not waiting");
nilDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
nilSchReadyI(tr, NIL_MSG_OK);
nilSchReadyI(tr, MSG_OK);
return;
}
tr++;
@ -585,11 +610,10 @@ void nilSemResetI(semaphore_t *sp, cnt_t n) {
/* Is this thread waiting on this semaphore?*/
if (tr->u1.semp == sp) {
nilDbgAssert(NIL_THD_IS_WTSEM(tr),
"nilSemResetI(), #1", "not waiting");
nilDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
cnt++;
nilSchReadyI(tr, NIL_MSG_RST);
nilSchReadyI(tr, MSG_RESET);
}
tr++;
}

2
os/rt/ports/ARMCMx/chcore_v6m.c
View File

@ -112,7 +112,7 @@ void _port_irq_epilogue(regarm_t lr) {
port_lock_from_isr();
/* The extctx structure is pointed by the PSP register.*/
ctxp = (struct extctx *)__get_PSP();
ctxp = (struct port_extctx *)__get_PSP();
/* Adding an artificial exception return context, there is no need to
populate it fully.*/

11
os/rt/ports/ARMCMx/chcore_v6m.h
View File

@ -202,13 +202,13 @@ struct context {
* @details This code usually setup the context switching frame represented
* by an @p port_intctx structure.
*/
#define PORT_SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \
(tp)->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct port_intctx)); \
tp->p_ctx.r13->r4 = (regarm_t)(pf); \
tp->p_ctx.r13->r5 = (regarm_t)(arg); \
tp->p_ctx.r13->lr = (regarm_t)(_port_thread_start); \
(tp)->p_ctx.r13->r4 = (regarm_t)(pf); \
(tp)->p_ctx.r13->r5 = (regarm_t)(arg); \
(tp)->p_ctx.r13->lr = (regarm_t)(_port_thread_start); \
}
/**
@ -281,7 +281,6 @@ struct context {
#ifdef __cplusplus
extern "C" {
#endif
void port_halt(void);
void _port_irq_epilogue(regarm_t lr);
void _port_switch_from_isr(void);
void _port_exit_from_isr(void);

10
os/rt/ports/ARMCMx/chcore_v7m.h
View File

@ -301,13 +301,13 @@ struct context {
* @details This code usually setup the context switching frame represented
* by an @p port_intctx structure.
*/
#define PORT_SETUP_CONTEXT(workspace, wsize, pf, arg) { \
tp->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
#define PORT_SETUP_CONTEXT(tp, workspace, wsize, pf, arg) { \
(tp)->p_ctx.r13 = (struct port_intctx *)((uint8_t *)workspace + \
wsize - \
sizeof(struct port_intctx)); \
tp->p_ctx.r13->r4 = (regarm_t)(pf); \
tp->p_ctx.r13->r5 = (regarm_t)(arg); \
tp->p_ctx.r13->lr = (regarm_t)(_port_thread_start); \
(tp)->p_ctx.r13->r4 = (regarm_t)(pf); \
(tp)->p_ctx.r13->r5 = (regarm_t)(arg); \
(tp)->p_ctx.r13->lr = (regarm_t)(_port_thread_start); \
}
/**

2
os/rt/src/chthreads.c
View File

@ -184,7 +184,7 @@ thread_t *chThdCreateI(void *wsp, size_t size,
chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) &&
(prio <= HIGHPRIO) && (pf != NULL));
PORT_SETUP_CONTEXT(wsp, size, pf, arg);
PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
return _thread_init(tp, prio);
}