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Make Cortex-M0 set/clear interrupt flag from ISR functions nestable.

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Don't reset the stack location when starting the scheduler in Cortex-M0 ports as the vector offset register is not implemented and XMC1000 devices have their application vector address somewhere other than 0x00.
pull/4/head
Richard Barry 12 years ago
parent ed399e801e
commit 73606369c4
9 changed files with 146 additions and 102 deletions
Show Stats Download Patch File Download Diff File

36
FreeRTOS/Source/portable/GCC/ARM_CM0/port.c
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@ -158,14 +158,14 @@ void vPortSVCHandler( void )
void vPortStartFirstTask( void )
{
/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
table offset register that can be used to locate the initial stack value.
Not all M0 parts have the application vector table at address 0. */
__asm volatile(
" movs r0, #0x00 \n" /* Locate the top of stack. */
" ldr r0, [r0] \n"
" msr msp, r0 \n" /* Set the msp back to the start of the stack. */
" cpsie i \n" /* Globally enable interrupts. */
" svc 0 \n" /* System call to start first task. */
" nop \n"
);
);
}
/*-----------------------------------------------------------*/
@ -231,6 +231,28 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
unsigned long ulSetInterruptMaskFromISR( void )
{
__asm volatile(
" mrs r0, PRIMASK \n"
" cpsid i \n"
" bx lr "
);
/* To avoid compiler warnings. This line will never be reached. */
return 0;
}
/*-----------------------------------------------------------*/
void vClearInterruptMaskFromISR( unsigned long ulMask )
{
__asm volatile(
" msr PRIMASK, r0 \n"
" bx lr "
);
}
/*-----------------------------------------------------------*/
void xPortPendSVHandler( void )
{
/* This is a naked function. */
@ -281,9 +303,9 @@ void xPortPendSVHandler( void )
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
unsigned long ulPreviousMask;
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )
@ -292,7 +314,7 @@ unsigned long ulDummy;
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
}
/*-----------------------------------------------------------*/

13
FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h
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@ -118,12 +118,13 @@ extern void vPortYield( void );
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portSET_INTERRUPT_MASK() __asm volatile ( " cpsid i " )
#define portCLEAR_INTERRUPT_MASK() __asm volatile ( " cpsie i " )
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
extern unsigned long ulSetInterruptMaskFromISR( void ) __attribute__((naked));
extern void vClearInterruptMaskFromISR( unsigned long ulMask ) __attribute__((naked));
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMaskFromISR( x )
#define portDISABLE_INTERRUPTS() __asm volatile ( " cpsid i " )
#define portENABLE_INTERRUPTS() __asm volatile ( " cpsie i " )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()

7
FreeRTOS/Source/portable/GCC/CORTUS_APS3/port.c
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@ -92,7 +92,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE * pxTopOfStack, pdTASK_COD
pxTopOfStack -= 20;
/* Fill the registers with known values to assist debugging. */
pxTopOfStack[ 16 ] = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
pxTopOfStack[ 16 ] = 0;
pxTopOfStack[ 15 ] = portINITIAL_PSR;
pxTopOfStack[ 14 ] = ( unsigned long ) pxCode;
pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
@ -119,10 +119,6 @@ portBASE_TYPE xPortStartScheduler( void )
/* Set-up the timer interrupt. */
prvSetupTimerInterrupt();
/* Enable the TRAP yield. */
irq[ portIRQ_TRAP_YIELD ].ien = 1;
irq[ portIRQ_TRAP_YIELD ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
/* Integrated Interrupt Controller: Enable all interrupts. */
ic->ien = 1;
@ -143,7 +139,6 @@ static void prvSetupTimerInterrupt( void )
/* Set the IRQ Handler priority and enable it. */
irq[ IRQ_COUNTER1 ].ien = 1;
irq[ IRQ_COUNTER1 ].ipl = portKERNEL_INTERRUPT_PRIORITY_LEVEL;
}
/*-----------------------------------------------------------*/

8
FreeRTOS/Source/portable/GCC/CORTUS_APS3/portmacro.h
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@ -69,7 +69,7 @@
extern "C" {
#endif
#include <machine/ic.h>
#include <machine/cpu.h>
/*-----------------------------------------------------------
* Port specific definitions.
@ -106,8 +106,6 @@ extern "C" {
#define portNOP() __asm__ volatile ( "mov r0, r0" )
#define portCRITICAL_NESTING_IN_TCB 1
#define portIRQ_TRAP_YIELD 31
#define portKERNEL_INTERRUPT_PRIORITY_LEVEL 0
#define portSYSTEM_INTERRUPT_PRIORITY_LEVEL 0
/*-----------------------------------------------------------*/
/* Task utilities. */
@ -126,8 +124,8 @@ extern void vTaskExitCritical( void );
/*---------------------------------------------------------------------------*/
/* Critical section management. */
#define portDISABLE_INTERRUPTS() ic->cpl = ( portSYSTEM_INTERRUPT_PRIORITY_LEVEL + 1 )
#define portENABLE_INTERRUPTS() ic->cpl = portKERNEL_INTERRUPT_PRIORITY_LEVEL
#define portDISABLE_INTERRUPTS() cpu_int_disable()
#define portENABLE_INTERRUPTS() cpu_int_enable()
/*---------------------------------------------------------------------------*/

6
FreeRTOS/Source/portable/IAR/ARM_CM0/port.c
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@ -198,9 +198,9 @@ void vPortExitCritical( void )
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
unsigned long ulPreviousMask;
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )
@ -209,7 +209,7 @@ unsigned long ulDummy;
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
}
/*-----------------------------------------------------------*/

101
FreeRTOS/Source/portable/IAR/ARM_CM0/portasm.s
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@ -64,14 +64,6 @@
#include <FreeRTOSConfig.h>
/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
defined. The value zero should also ensure backward compatibility.
FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
#ifndef configKERNEL_INTERRUPT_PRIORITY
#define configKERNEL_INTERRUPT_PRIORITY 0
#endif
RSEG CODE:CODE(2)
thumb
@ -83,52 +75,53 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
PUBLIC xPortPendSVHandler
PUBLIC vPortSVCHandler
PUBLIC vPortStartFirstTask
PUBLIC ulSetInterruptMaskFromISR
PUBLIC vClearInterruptMaskFromISR
/*-----------------------------------------------------------*/
vSetMSP
msr msp, r0
bx lr
/*-----------------------------------------------------------*/
xPortPendSVHandler:
mrs r0, psp
mrs r0, psp
ldr r3, =pxCurrentTCB /* Get the location of the current TCB. */
ldr r2, [r3]
ldr r2, [r3]
subs r0, r0, #32 /* Make space for the remaining low registers. */
str r0, [r2] /* Save the new top of stack. */
stmia r0!, {r4-r7} /* Store the low registers that are not saved automatically. */
mov r4, r8 /* Store the high registers. */
mov r5, r9
mov r6, r10
mov r7, r11
stmia r0!, {r4-r7}
push {r3, r14}
cpsid i
bl vTaskSwitchContext
cpsie i
mov r5, r9
mov r6, r10
mov r7, r11
stmia r0!, {r4-r7}
push {r3, r14}
cpsid i
bl vTaskSwitchContext
cpsie i
pop {r2, r3} /* lr goes in r3. r2 now holds tcb pointer. */
ldr r1, [r2]
ldr r1, [r2]
ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
adds r0, r0, #16 /* Move to the high registers. */
ldmia r0!, {r4-r7} /* Pop the high registers. */
mov r8, r4
mov r9, r5
mov r10, r6
mov r11, r7
mov r8, r4
mov r9, r5
mov r10, r6
mov r11, r7
msr psp, r0 /* Remember the new top of stack for the task. */
subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */
ldmia r0!, {r4-r7} /* Pop low registers. */
bx r3
bx r3
/*-----------------------------------------------------------*/
@ -138,29 +131,41 @@ vPortSVCHandler;
ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
adds r0, r0, #16 /* Move to the high registers. */
ldmia r0!, {r4-r7} /* Pop the high registers. */
mov r8, r4
mov r9, r5
mov r10, r6
mov r11, r7
mov r8, r4
mov r9, r5
mov r10, r6
mov r11, r7
msr psp, r0 /* Remember the new top of stack for the task. */
subs r0, r0, #32 /* Go back for the low registers that are not automatically restored. */
ldmia r0!, {r4-r7} /* Pop low registers. */
mov r1, r14 /* OR R14 with 0x0d. */
movs r0, #0x0d
orrs r1, r0
bx r1
movs r0, #0x0d
orrs r1, r0
bx r1
/*-----------------------------------------------------------*/
vPortStartFirstTask
movs r0, #0x00 /* Locate the top of stack. */
ldr r0, [r0]
msr msp, r0 /* Set the msp back to the start of the stack. */
/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
table offset register that can be used to locate the initial stack value.
Not all M0 parts have the application vector table at address 0. */
cpsie i /* Globally enable interrupts. */
svc 0 /* System call to start first task. */
nop
nop
/*-----------------------------------------------------------*/
ulSetInterruptMaskFromISR
mrs r0, PRIMASK
cpsid i
bx lr
/*-----------------------------------------------------------*/
vClearInterruptMaskFromISR
msr PRIMASK, r0
bx lr
END

11
FreeRTOS/Source/portable/IAR/ARM_CM0/portmacro.h
Unescape Escape View File

@ -119,13 +119,15 @@ extern void vPortYield( void );
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
extern unsigned long ulSetInterruptMaskFromISR( void );
extern void vClearInterruptMaskFromISR( unsigned long ulMask );
#define portDISABLE_INTERRUPTS() __asm volatile( "cpsid i" )
#define portENABLE_INTERRUPTS() __asm volatile( "cpsie i" )
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portDISABLE_INTERRUPTS()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portENABLE_INTERRUPTS();(void)x
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMaskFromISR( x )
/*-----------------------------------------------------------*/
@ -135,6 +137,11 @@ extern void vPortExitCritical( void );
#define portNOP()
/* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
the source code because to do so would cause other compilers to generate
warnings. */
#pragma diag_suppress=Pa082
#ifdef __cplusplus
}
#endif

52
FreeRTOS/Source/portable/RVDS/ARM_CM0/port.c
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@ -108,7 +108,7 @@ void vPortSVCHandler( void );
/*
* Start first task is a separate function so it can be tested in isolation.
*/
static void vPortStartFirstTask( void );
static void prvPortStartFirstTask( void );
/*-----------------------------------------------------------*/
@ -137,11 +137,11 @@ __asm void vPortSVCHandler( void )
PRESERVE8
ldr r3, =pxCurrentTCB /* Restore the context. */
ldr r1, [r3] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
ldr r3, =pxCurrentTCB /* Obtain location of pxCurrentTCB. */
ldr r1, [r3]
ldr r0, [r1] /* The first item in pxCurrentTCB is the task top of stack. */
adds r0, #16 /* Move to the high registers. */
ldmia r0!, {r4-r7} /* Pop the high registers. */
adds r0, #16 /* Pop the high registers. */
ldmia r0!, {r4-r7}
mov r8, r4
mov r9, r5
mov r10, r6
@ -155,20 +155,20 @@ __asm void vPortSVCHandler( void )
movs r0, #0x0d
orrs r1, r0
bx r1
nop
ALIGN
}
/*-----------------------------------------------------------*/
__asm void vPortStartFirstTask( void )
__asm void prvPortStartFirstTask( void )
{
PRESERVE8
movs r0, #0x00 /* Locate the top of stack. */
ldr r0, [r0]
msr msp, r0 /* Set the msp back to the start of the stack. */
cpsie i /* Globally enable interrupts. */
svc 0 /* System call to start first task. */
nop
/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
table offset register that can be used to locate the initial stack value.
Not all M0 parts have the application vector table at address 0. */
cpsie i /* Globally enable interrupts. */
svc 0 /* System call to start first task. */
ALIGN
}
/*-----------------------------------------------------------*/
@ -189,7 +189,7 @@ portBASE_TYPE xPortStartScheduler( void )
uxCriticalNesting = 0;
/* Start the first task. */
vPortStartFirstTask();
prvPortStartFirstTask();
/* Should not get here! */
return 0;
@ -234,6 +234,21 @@ void vPortExitCritical( void )
}
/*-----------------------------------------------------------*/
__asm unsigned long ulSetInterruptMaskFromISR( void )
{
mrs r0, PRIMASK
cpsid i
bx lr
}
/*-----------------------------------------------------------*/
__asm void vClearInterruptMaskFromISR( unsigned long ulMask )
{
msr PRIMASK, r0
bx lr
}
/*-----------------------------------------------------------*/
__asm void xPortPendSVHandler( void )
{
extern vTaskSwitchContext
@ -276,14 +291,15 @@ __asm void xPortPendSVHandler( void )
ldmia r0!, {r4-r7} /* Pop low registers. */
bx r3
ALIGN
}
/*-----------------------------------------------------------*/
void xPortSysTickHandler( void )
{
unsigned long ulDummy;
unsigned long ulPreviousMask;
ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )
@ -292,7 +308,7 @@ unsigned long ulDummy;
*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
}
}
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
}
/*-----------------------------------------------------------*/

14
FreeRTOS/Source/portable/RVDS/ARM_CM0/portmacro.h
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@ -114,16 +114,16 @@ extern void vPortYield( void );
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/
/* Critical section management. */
extern void vPortEnterCritical( void );
extern void vPortExitCritical( void );
#define portSET_INTERRUPT_MASK() __disable_irq()
#define portCLEAR_INTERRUPT_MASK() __enable_irq()
#define portSET_INTERRUPT_MASK_FROM_ISR() 0;portSET_INTERRUPT_MASK()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) portCLEAR_INTERRUPT_MASK();(void)x
#define portDISABLE_INTERRUPTS() portSET_INTERRUPT_MASK()
#define portENABLE_INTERRUPTS() portCLEAR_INTERRUPT_MASK()
extern unsigned long ulSetInterruptMaskFromISR( void );
extern void vClearInterruptMaskFromISR( unsigned long ulMask );
#define portSET_INTERRUPT_MASK_FROM_ISR() ulSetInterruptMaskFromISR()
#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vClearInterruptMaskFromISR( x )
#define portDISABLE_INTERRUPTS() __disable_irq()
#define portENABLE_INTERRUPTS() __enable_irq()
#define portENTER_CRITICAL() vPortEnterCritical()
#define portEXIT_CRITICAL() vPortExitCritical()

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