169 lines
5.7 KiB
C
Executable File
169 lines
5.7 KiB
C
Executable File
/*
|
|
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS.
|
|
|
|
ChibiOS is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file chcore_v7m.c
|
|
* @brief ARMv7-M architecture port code.
|
|
*
|
|
* @addtogroup ARMCMx_V7M_CORE
|
|
* @{
|
|
*/
|
|
|
|
#include "ch.h"
|
|
|
|
/*===========================================================================*/
|
|
/* Module local definitions. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported variables. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local types. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local variables. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local functions. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module interrupt handlers. */
|
|
/*===========================================================================*/
|
|
|
|
#if (CORTEX_SIMPLIFIED_PRIORITY == FALSE) || defined(__DOXYGEN__)
|
|
/**
|
|
* @brief SVC vector.
|
|
* @details The SVC vector is used for exception mode re-entering after a
|
|
* context switch.
|
|
* @note The PendSV vector is only used in advanced kernel mode.
|
|
*/
|
|
/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
|
|
void SVC_Handler(void) {
|
|
/*lint -restore*/
|
|
struct port_extctx *ctxp;
|
|
|
|
#if CORTEX_USE_FPU
|
|
/* Enforcing unstacking of the FP part of the context.*/
|
|
FPU->FPCCR &= ~FPU_FPCCR_LSPACT_Msk;
|
|
#endif
|
|
|
|
/* The port_extctx structure is pointed by the PSP register.*/
|
|
ctxp = (struct port_extctx *)__get_PSP();
|
|
|
|
/* Discarding the current exception context and positioning the stack to
|
|
point to the real one.*/
|
|
ctxp++;
|
|
|
|
/* Restoring real position of the original stack frame.*/
|
|
__set_PSP((uint32_t)ctxp);
|
|
|
|
/* Restoring the normal interrupts status.*/
|
|
port_unlock_from_isr();
|
|
}
|
|
#endif /* CORTEX_SIMPLIFIED_PRIORITY == FALSE */
|
|
|
|
#if (CORTEX_SIMPLIFIED_PRIORITY == TRUE) || defined(__DOXYGEN__)
|
|
/**
|
|
* @brief PendSV vector.
|
|
* @details The PendSV vector is used for exception mode re-entering after a
|
|
* context switch.
|
|
* @note The PendSV vector is only used in compact kernel mode.
|
|
*/
|
|
/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
|
|
void PendSV_Handler(void) {
|
|
/*lint -restore*/
|
|
struct port_extctx *ctxp;
|
|
|
|
#if CORTEX_USE_FPU
|
|
/* Enforcing unstacking of the FP part of the context.*/
|
|
FPU->FPCCR &= ~FPU_FPCCR_LSPACT_Msk;
|
|
#endif
|
|
|
|
/* The port_extctx structure is pointed by the PSP register.*/
|
|
ctxp = (struct port_extctx *)__get_PSP();
|
|
|
|
/* Discarding the current exception context and positioning the stack to
|
|
point to the real one.*/
|
|
ctxp++;
|
|
|
|
/* Writing back the modified PSP value.*/
|
|
__set_PSP((uint32_t)ctxp);
|
|
}
|
|
#endif /* CORTEX_SIMPLIFIED_PRIORITY == TRUE */
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Exception exit redirection to _port_switch_from_isr().
|
|
*/
|
|
void _port_irq_epilogue(void) {
|
|
|
|
port_lock_from_isr();
|
|
if ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0U) {
|
|
struct port_extctx *ctxp;
|
|
|
|
#if CORTEX_USE_FPU == TRUE
|
|
/* Enforcing a lazy FPU state save by accessing the FPCSR register.*/
|
|
(void) __get_FPSCR();
|
|
#endif
|
|
|
|
/* The port_extctx structure is pointed by the PSP register.*/
|
|
ctxp = (struct port_extctx *)__get_PSP();
|
|
|
|
/* Adding an artificial exception return context, there is no need to
|
|
populate it fully.*/
|
|
ctxp--;
|
|
|
|
/* Setting up a fake XPSR register value.*/
|
|
ctxp->xpsr = (regarm_t)0x01000000;
|
|
#if CORTEX_USE_FPU == TRUE
|
|
ctxp->fpscr = (regarm_t)FPU->FPDSCR;
|
|
#endif
|
|
|
|
/* Writing back the modified PSP value.*/
|
|
__set_PSP((uint32_t)ctxp);
|
|
|
|
/* The exit sequence is different depending on if a preemption is
|
|
required or not.*/
|
|
if (chSchIsPreemptionRequired()) {
|
|
/* Preemption is required we need to enforce a context switch.*/
|
|
ctxp->pc = (regarm_t)_port_switch_from_isr;
|
|
}
|
|
else {
|
|
/* Preemption not required, we just need to exit the exception
|
|
atomically.*/
|
|
ctxp->pc = (regarm_t)_port_exit_from_isr;
|
|
}
|
|
|
|
/* Note, returning without unlocking is intentional, this is done in
|
|
order to keep the rest of the context switch atomic.*/
|
|
return;
|
|
}
|
|
port_unlock_from_isr();
|
|
}
|
|
|
|
/** @} */
|